[ { "episode_id": 678647, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 356, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 752, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 752, "end_frame": 906, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 906, "end_frame": 1126, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678673, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 330, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 771, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 771, "end_frame": 903, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1105, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678687, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 282, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 658, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 658, "end_frame": 806, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 806, "end_frame": 1041, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678814, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 731, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 731, "end_frame": 836, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 836, "end_frame": 1112, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678851, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 736, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 736, "end_frame": 891, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 891, "end_frame": 1130, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678865, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 781, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 781, "end_frame": 873, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 873, "end_frame": 1138, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678872, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 341, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 855, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 855, "end_frame": 1062, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1062, "end_frame": 1254, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678884, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 323, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 757, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 757, "end_frame": 916, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 916, "end_frame": 1163, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678889, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 753, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 753, "end_frame": 911, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 911, "end_frame": 1117, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678907, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 342, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 777, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 777, "end_frame": 942, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 942, "end_frame": 1095, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678957, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 332, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 796, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 796, "end_frame": 930, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 930, "end_frame": 1131, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678982, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 798, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 798, "end_frame": 955, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 955, "end_frame": 1141, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679015, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 316, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 733, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 733, "end_frame": 855, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 855, "end_frame": 1046, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679025, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 745, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 745, "end_frame": 888, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 888, "end_frame": 1060, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679040, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 889, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 889, "end_frame": 1042, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1042, "end_frame": 1218, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679047, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 322, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 777, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 777, "end_frame": 923, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 923, "end_frame": 1121, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679063, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 317, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 818, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 818, "end_frame": 970, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 970, "end_frame": 1136, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679073, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 903, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 903, "end_frame": 1073, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1073, "end_frame": 1245, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679086, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 362, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 802, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 802, "end_frame": 953, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1106, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679097, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 379, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 866, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 866, "end_frame": 1038, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1038, "end_frame": 1252, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679110, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 777, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 777, "end_frame": 951, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 951, "end_frame": 1112, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679122, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 768, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 768, "end_frame": 909, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 909, "end_frame": 1067, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679166, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 365, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 930, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 930, "end_frame": 1066, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1066, "end_frame": 1238, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679181, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 325, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 813, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 813, "end_frame": 978, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 978, "end_frame": 1152, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679204, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 330, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 817, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 817, "end_frame": 953, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1180, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679219, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 3, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 714, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 714, "end_frame": 837, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 837, "end_frame": 1036, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679229, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 313, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 751, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 751, "end_frame": 898, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 898, "end_frame": 1088, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679239, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 761, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 761, "end_frame": 886, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 886, "end_frame": 1042, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679271, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 379, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 790, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 790, "end_frame": 922, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1065, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679288, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 720, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 720, "end_frame": 831, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 831, "end_frame": 965, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679310, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 309, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 749, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 749, "end_frame": 896, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 896, "end_frame": 1064, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679343, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 696, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 696, "end_frame": 817, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 817, "end_frame": 971, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679377, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 661, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 661, "end_frame": 798, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 798, "end_frame": 927, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679396, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 330, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 710, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 710, "end_frame": 837, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 837, "end_frame": 990, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679407, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 342, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 733, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 733, "end_frame": 890, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 890, "end_frame": 1038, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679447, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 783, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 783, "end_frame": 903, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1051, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679455, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 724, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 724, "end_frame": 863, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 863, "end_frame": 1031, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679469, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 836, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 836, "end_frame": 1016, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1016, "end_frame": 1169, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679494, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 391, "end_frame": 789, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 789, "end_frame": 929, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 929, "end_frame": 1121, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679501, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 724, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 724, "end_frame": 864, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 864, "end_frame": 1037, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679520, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 732, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 732, "end_frame": 887, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1022, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679530, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 355, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 859, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 859, "end_frame": 1024, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1024, "end_frame": 1182, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679537, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 379, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 925, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 925, "end_frame": 1083, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1083, "end_frame": 1223, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679544, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 366, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 814, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 814, "end_frame": 959, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 959, "end_frame": 1137, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679557, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 781, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 781, "end_frame": 931, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 931, "end_frame": 1089, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679568, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 780, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 780, "end_frame": 936, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 936, "end_frame": 1135, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679574, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 894, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 894, "end_frame": 1085, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1085, "end_frame": 1285, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679581, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 784, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 784, "end_frame": 947, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 947, "end_frame": 1147, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679687, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 760, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 760, "end_frame": 906, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 906, "end_frame": 1115, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679701, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 822, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 822, "end_frame": 987, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 987, "end_frame": 1158, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679735, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 810, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 810, "end_frame": 962, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1137, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679754, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 797, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 797, "end_frame": 952, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 952, "end_frame": 1124, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679769, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 799, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 799, "end_frame": 963, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 963, "end_frame": 1174, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679779, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 646, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 646, "end_frame": 803, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 803, "end_frame": 965, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679792, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 743, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 743, "end_frame": 916, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 916, "end_frame": 1074, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679804, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 698, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 698, "end_frame": 856, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 856, "end_frame": 1062, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679816, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 330, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 786, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 786, "end_frame": 912, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 912, "end_frame": 1085, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679843, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 819, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 819, "end_frame": 990, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 990, "end_frame": 1179, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679875, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 746, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 746, "end_frame": 865, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 865, "end_frame": 1034, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679884, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 664, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 664, "end_frame": 797, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 797, "end_frame": 1016, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679919, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 320, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 1043, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1043, "end_frame": 1182, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1182, "end_frame": 1410, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679941, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 688, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 688, "end_frame": 829, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 829, "end_frame": 1056, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679959, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 752, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 752, "end_frame": 943, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1108, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680005, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 841, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 841, "end_frame": 946, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 946, "end_frame": 1173, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680026, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 758, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 758, "end_frame": 918, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 918, "end_frame": 1112, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680030, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 804, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 804, "end_frame": 956, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 956, "end_frame": 1140, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680038, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 672, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 672, "end_frame": 783, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 783, "end_frame": 974, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680047, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 791, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 791, "end_frame": 957, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 957, "end_frame": 1167, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680059, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 823, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 823, "end_frame": 1019, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1019, "end_frame": 1190, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680067, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 720, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 720, "end_frame": 908, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 908, "end_frame": 1095, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680087, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 1041, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1041, "end_frame": 1193, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1193, "end_frame": 1360, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680097, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 731, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 731, "end_frame": 885, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 885, "end_frame": 1071, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680106, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 744, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 744, "end_frame": 885, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 885, "end_frame": 1083, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680147, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 754, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 754, "end_frame": 892, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 892, "end_frame": 1045, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680166, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 607, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 607, "end_frame": 753, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 753, "end_frame": 931, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680176, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 328, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 778, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 778, "end_frame": 940, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 940, "end_frame": 1112, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680193, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 745, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 745, "end_frame": 850, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 850, "end_frame": 987, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680206, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 694, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 694, "end_frame": 797, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 797, "end_frame": 928, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680217, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 716, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 716, "end_frame": 859, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 859, "end_frame": 1011, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680229, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 638, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 638, "end_frame": 825, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 825, "end_frame": 978, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680240, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 722, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 722, "end_frame": 883, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 883, "end_frame": 1028, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680265, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 859, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 859, "end_frame": 1007, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1007, "end_frame": 1160, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680284, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 691, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 691, "end_frame": 877, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 877, "end_frame": 1025, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680295, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 692, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 692, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 981, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680308, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 722, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 722, "end_frame": 847, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 847, "end_frame": 988, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680335, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 667, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 667, "end_frame": 792, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 792, "end_frame": 921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680346, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 791, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 791, "end_frame": 945, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 945, "end_frame": 1122, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680357, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 630, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 630, "end_frame": 791, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 791, "end_frame": 938, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680368, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 719, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 719, "end_frame": 874, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 874, "end_frame": 1001, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680380, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 663, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 663, "end_frame": 795, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 795, "end_frame": 948, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680389, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 607, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 607, "end_frame": 731, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 731, "end_frame": 888, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680401, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 726, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 726, "end_frame": 867, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 867, "end_frame": 1018, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680419, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 773, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 773, "end_frame": 914, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1072, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680438, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 615, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 615, "end_frame": 754, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 754, "end_frame": 925, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680449, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 643, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 643, "end_frame": 805, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 805, "end_frame": 1000, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680469, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 641, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 641, "end_frame": 786, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 786, "end_frame": 969, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680476, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 756, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 756, "end_frame": 943, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1103, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680489, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 636, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 636, "end_frame": 787, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 787, "end_frame": 942, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680493, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 630, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 630, "end_frame": 782, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 782, "end_frame": 946, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680497, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 712, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 712, "end_frame": 868, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 868, "end_frame": 1021, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698061, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 511, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 511, "end_frame": 1151, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1151, "end_frame": 1303, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1303, "end_frame": 1552, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698071, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 432, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 432, "end_frame": 1043, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1043, "end_frame": 1183, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1183, "end_frame": 1379, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698090, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 511, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 511, "end_frame": 925, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 925, "end_frame": 1063, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1063, "end_frame": 1269, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698096, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 421, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 421, "end_frame": 935, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 935, "end_frame": 1063, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1063, "end_frame": 1262, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698107, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 456, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 456, "end_frame": 1212, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1212, "end_frame": 1389, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1389, "end_frame": 1565, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698125, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 405, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 405, "end_frame": 883, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 883, "end_frame": 1008, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1008, "end_frame": 1151, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698154, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 433, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 433, "end_frame": 930, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 930, "end_frame": 1072, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1072, "end_frame": 1225, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698283, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 378, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 786, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 786, "end_frame": 922, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1105, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698372, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 719, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 719, "end_frame": 829, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 829, "end_frame": 951, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698398, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 505, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 505, "end_frame": 977, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 977, "end_frame": 1096, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1096, "end_frame": 1268, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698413, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 416, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 975, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 975, "end_frame": 1108, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1108, "end_frame": 1250, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698482, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 376, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 896, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 896, "end_frame": 1048, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1048, "end_frame": 1182, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698511, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 360, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 810, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 810, "end_frame": 942, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 942, "end_frame": 1084, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698534, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 459, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 459, "end_frame": 1136, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1136, "end_frame": 1334, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1334, "end_frame": 1475, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698557, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 587, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 587, "end_frame": 1207, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1207, "end_frame": 1356, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1356, "end_frame": 1478, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698622, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 817, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 817, "end_frame": 943, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1065, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698683, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 75, "end_frame": 358, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 876, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 876, "end_frame": 977, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 977, "end_frame": 1065, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698703, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 350, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 824, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 824, "end_frame": 933, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 933, "end_frame": 1090, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698716, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 765, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 765, "end_frame": 873, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 873, "end_frame": 1052, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698722, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 666, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 666, "end_frame": 765, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 765, "end_frame": 912, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698764, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 522, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 522, "end_frame": 979, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 979, "end_frame": 1089, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1089, "end_frame": 1254, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 522, "description": "" } ] } }, { "episode_id": 698794, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 797, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 797, "end_frame": 910, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 910, "end_frame": 1049, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698802, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 350, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 710, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 710, "end_frame": 826, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 826, "end_frame": 958, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698870, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 642, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 642, "end_frame": 742, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 742, "end_frame": 869, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698893, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 279, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 778, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 778, "end_frame": 865, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 865, "end_frame": 1021, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698904, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 672, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 672, "end_frame": 784, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 784, "end_frame": 889, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698919, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 403, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 403, "end_frame": 824, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 824, "end_frame": 937, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 937, "end_frame": 1047, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 403, "description": "" } ] } }, { "episode_id": 698952, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 362, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 813, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 813, "end_frame": 899, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 899, "end_frame": 998, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698968, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 714, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 714, "end_frame": 805, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 805, "end_frame": 908, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701686, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 469, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 469, "end_frame": 932, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 932, "end_frame": 1084, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1084, "end_frame": 1251, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701694, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 462, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 462, "end_frame": 919, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 919, "end_frame": 1041, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1041, "end_frame": 1212, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701703, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 536, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 536, "end_frame": 1042, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1042, "end_frame": 1175, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1175, "end_frame": 1322, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 322, "end": 457, "description": "" } ] } }, { "episode_id": 701714, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 418, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 418, "end_frame": 1062, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1062, "end_frame": 1177, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1177, "end_frame": 1352, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701728, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 603, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 603, "end_frame": 1111, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1111, "end_frame": 1374, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1374, "end_frame": 1561, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 355, "end": 470, "description": "" } ] } }, { "episode_id": 701745, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 427, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 427, "end_frame": 1262, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1262, "end_frame": 1396, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1396, "end_frame": 1558, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 681, "end": 777, "description": "" } ] } }, { "episode_id": 701782, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 391, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 391, "end_frame": 981, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 981, "end_frame": 1101, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1101, "end_frame": 1284, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701824, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 72, "end_frame": 393, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 1182, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1182, "end_frame": 1286, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1286, "end_frame": 1413, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701836, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 439, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 439, "end_frame": 964, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 964, "end_frame": 1063, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1063, "end_frame": 1202, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701854, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 113, "end_frame": 387, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 910, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 910, "end_frame": 1030, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1030, "end_frame": 1164, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701867, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 85, "end_frame": 397, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 980, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 980, "end_frame": 1052, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1052, "end_frame": 1217, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701905, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 196, "end_frame": 635, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 635, "end_frame": 1164, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1164, "end_frame": 1286, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1286, "end_frame": 1471, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701921, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 370, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 894, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 894, "end_frame": 1028, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1028, "end_frame": 1215, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701979, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 80, "end_frame": 377, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 941, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 941, "end_frame": 1054, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1054, "end_frame": 1199, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702000, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 917, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 917, "end_frame": 1012, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1012, "end_frame": 1142, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702015, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 451, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 451, "end_frame": 1007, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1007, "end_frame": 1100, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1100, "end_frame": 1311, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702049, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 366, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 894, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 894, "end_frame": 960, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 960, "end_frame": 1126, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702057, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 413, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 413, "end_frame": 1203, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1203, "end_frame": 1282, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1282, "end_frame": 1411, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702075, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 469, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 469, "end_frame": 1081, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1081, "end_frame": 1179, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1179, "end_frame": 1395, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702099, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 526, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 526, "end_frame": 1230, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1230, "end_frame": 1349, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1349, "end_frame": 1566, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702114, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 523, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 523, "end_frame": 1214, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1214, "end_frame": 1317, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1317, "end_frame": 1490, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702126, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 584, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 584, "end_frame": 1190, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1190, "end_frame": 1284, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1284, "end_frame": 1452, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702147, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 93, "end_frame": 452, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 452, "end_frame": 1247, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1247, "end_frame": 1346, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1346, "end_frame": 1548, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702163, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 371, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 1015, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1015, "end_frame": 1150, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1150, "end_frame": 1337, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702181, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 464, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 464, "end_frame": 1214, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1214, "end_frame": 1289, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1289, "end_frame": 1536, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702192, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 473, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 473, "end_frame": 1073, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1073, "end_frame": 1195, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1195, "end_frame": 1428, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702208, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 1028, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1028, "end_frame": 1084, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1084, "end_frame": 1270, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702225, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 1047, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1047, "end_frame": 1133, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1133, "end_frame": 1318, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702237, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 384, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 384, "end_frame": 984, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 984, "end_frame": 1058, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1058, "end_frame": 1257, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702248, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 1018, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1018, "end_frame": 1097, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1097, "end_frame": 1254, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702307, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 830, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 830, "end_frame": 890, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 890, "end_frame": 1041, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702326, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 398, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 398, "end_frame": 1010, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1010, "end_frame": 1065, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1065, "end_frame": 1250, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702343, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 960, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 960, "end_frame": 1074, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1074, "end_frame": 1320, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702358, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 1016, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1016, "end_frame": 1101, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1101, "end_frame": 1263, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702383, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 361, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 923, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 923, "end_frame": 997, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 997, "end_frame": 1181, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702398, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 391, "end_frame": 1036, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1036, "end_frame": 1141, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1141, "end_frame": 1308, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702411, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 386, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 1137, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1137, "end_frame": 1223, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1223, "end_frame": 1394, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702428, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 352, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 1053, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1053, "end_frame": 1134, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1134, "end_frame": 1320, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702447, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 928, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 928, "end_frame": 991, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1182, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702460, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 852, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 852, "end_frame": 914, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1045, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702479, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 832, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 832, "end_frame": 897, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 897, "end_frame": 1006, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702498, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 762, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 762, "end_frame": 856, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 856, "end_frame": 1034, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702511, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 1071, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1071, "end_frame": 1156, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1156, "end_frame": 1324, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702529, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 349, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 1269, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1269, "end_frame": 1337, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1337, "end_frame": 1468, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702543, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 939, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 939, "end_frame": 993, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 993, "end_frame": 1217, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702576, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 417, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 417, "end_frame": 1235, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1235, "end_frame": 1336, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1336, "end_frame": 1555, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702603, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 372, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 1074, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1074, "end_frame": 1190, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1190, "end_frame": 1398, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702615, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 848, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 848, "end_frame": 903, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1068, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702625, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 918, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 918, "end_frame": 1017, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1017, "end_frame": 1141, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702636, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 897, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 897, "end_frame": 962, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1155, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702648, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 233, "end_frame": 483, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 483, "end_frame": 938, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 938, "end_frame": 1012, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1012, "end_frame": 1154, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702659, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 877, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 877, "end_frame": 931, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 931, "end_frame": 1083, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702832, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 806, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 806, "end_frame": 871, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 871, "end_frame": 1025, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702846, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 777, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 777, "end_frame": 896, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 896, "end_frame": 992, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702873, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 1052, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1052, "end_frame": 1173, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1173, "end_frame": 1385, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702899, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 173, "end_frame": 454, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 454, "end_frame": 864, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 864, "end_frame": 1059, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1059, "end_frame": 1219, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702918, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 307, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 965, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 965, "end_frame": 1087, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1087, "end_frame": 1279, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702929, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 415, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 415, "end_frame": 936, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 936, "end_frame": 1027, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1027, "end_frame": 1152, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702940, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 103, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 954, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 954, "end_frame": 1059, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1059, "end_frame": 1165, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702952, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 403, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 403, "end_frame": 926, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 926, "end_frame": 1022, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1022, "end_frame": 1153, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 403, "description": "" } ] } }, { "episode_id": 702977, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 385, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 1035, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1035, "end_frame": 1135, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1135, "end_frame": 1272, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702992, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 89, "end_frame": 407, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 407, "end_frame": 806, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 806, "end_frame": 889, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 889, "end_frame": 1042, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703003, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 379, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 825, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 825, "end_frame": 929, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 929, "end_frame": 1081, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703020, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 389, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 862, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 862, "end_frame": 1076, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1076, "end_frame": 1232, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703032, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 845, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 845, "end_frame": 935, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 935, "end_frame": 1131, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703046, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 288, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 700, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 700, "end_frame": 771, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 771, "end_frame": 951, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703068, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 784, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 784, "end_frame": 846, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 846, "end_frame": 1037, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703084, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 773, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 773, "end_frame": 843, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 843, "end_frame": 998, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703101, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 981, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 981, "end_frame": 1042, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1042, "end_frame": 1227, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703152, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 513, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 513, "end_frame": 1151, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1151, "end_frame": 1218, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1218, "end_frame": 1369, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703166, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 806, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 806, "end_frame": 881, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 881, "end_frame": 1211, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703209, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 855, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 855, "end_frame": 930, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 930, "end_frame": 1140, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703295, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 309, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 816, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 816, "end_frame": 922, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1136, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703332, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 525, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 525, "end_frame": 1072, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1072, "end_frame": 1176, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1176, "end_frame": 1312, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703344, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 416, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 971, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 971, "end_frame": 1051, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1051, "end_frame": 1238, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703357, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 360, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 737, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 737, "end_frame": 808, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 808, "end_frame": 928, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703382, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 512, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 512, "end_frame": 1122, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1122, "end_frame": 1245, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1245, "end_frame": 1430, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703394, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 876, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 876, "end_frame": 972, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 972, "end_frame": 1177, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703407, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 768, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 768, "end_frame": 850, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 850, "end_frame": 1007, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703431, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 95, "end_frame": 394, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 891, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 891, "end_frame": 958, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 958, "end_frame": 1122, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703441, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 425, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 425, "end_frame": 964, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 964, "end_frame": 1059, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1059, "end_frame": 1227, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679380, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 204, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 204, "end_frame": 657, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 657, "end_frame": 749, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 749, "end_frame": 937, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679439, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 273, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 631, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 631, "end_frame": 772, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 772, "end_frame": 919, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679460, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 253, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 643, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 643, "end_frame": 755, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 755, "end_frame": 940, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679694, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 214, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 576, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 576, "end_frame": 723, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 723, "end_frame": 893, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679720, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 639, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 639, "end_frame": 755, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 755, "end_frame": 926, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679731, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 624, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 624, "end_frame": 766, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 766, "end_frame": 934, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679746, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 665, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 665, "end_frame": 787, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 787, "end_frame": 947, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679760, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 111, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 111, "end_frame": 768, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 768, "end_frame": 951, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 951, "end_frame": 1114, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679790, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 640, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 640, "end_frame": 775, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 775, "end_frame": 960, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679806, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 264, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 665, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 665, "end_frame": 835, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 835, "end_frame": 1028, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679826, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 677, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 677, "end_frame": 801, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 801, "end_frame": 949, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679862, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 587, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 587, "end_frame": 726, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 726, "end_frame": 881, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679874, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 609, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 609, "end_frame": 748, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 748, "end_frame": 896, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679887, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 631, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 631, "end_frame": 754, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 754, "end_frame": 906, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679920, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 209, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 715, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 715, "end_frame": 850, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 850, "end_frame": 1003, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680076, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 683, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 683, "end_frame": 818, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 818, "end_frame": 945, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680090, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 708, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 708, "end_frame": 870, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 870, "end_frame": 1077, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680101, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 659, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 659, "end_frame": 796, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 796, "end_frame": 957, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680113, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 743, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 743, "end_frame": 882, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 882, "end_frame": 1044, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680127, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 665, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 665, "end_frame": 781, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 781, "end_frame": 943, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680173, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 764, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 764, "end_frame": 882, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 882, "end_frame": 1017, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680192, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 755, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 755, "end_frame": 866, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 866, "end_frame": 1087, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680210, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 232, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 686, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 686, "end_frame": 813, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 813, "end_frame": 996, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680270, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 686, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 686, "end_frame": 828, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 828, "end_frame": 994, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684071, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 870, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 870, "end_frame": 984, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 984, "end_frame": 1174, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684085, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 769, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 769, "end_frame": 908, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 908, "end_frame": 1097, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684107, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 230, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 623, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 623, "end_frame": 753, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 753, "end_frame": 930, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684136, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 636, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 636, "end_frame": 731, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 731, "end_frame": 899, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684149, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 653, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 653, "end_frame": 764, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 764, "end_frame": 913, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684160, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 687, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 687, "end_frame": 803, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 803, "end_frame": 986, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684191, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 632, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 632, "end_frame": 772, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 772, "end_frame": 921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684205, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 665, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 665, "end_frame": 783, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 783, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684219, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 789, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 789, "end_frame": 916, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 916, "end_frame": 1058, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684229, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 678, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 678, "end_frame": 788, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 788, "end_frame": 930, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684241, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 666, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 666, "end_frame": 752, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 752, "end_frame": 967, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684272, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 709, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 709, "end_frame": 818, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 818, "end_frame": 957, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684282, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 633, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 633, "end_frame": 749, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 749, "end_frame": 861, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684297, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 678, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 678, "end_frame": 810, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 810, "end_frame": 966, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684324, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 658, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 658, "end_frame": 791, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 791, "end_frame": 937, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684337, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 754, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 754, "end_frame": 863, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 863, "end_frame": 998, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684352, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 727, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 727, "end_frame": 847, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 847, "end_frame": 975, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684367, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 721, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 721, "end_frame": 834, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 834, "end_frame": 987, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684383, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 762, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 762, "end_frame": 877, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 877, "end_frame": 1024, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684397, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 676, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 676, "end_frame": 793, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 793, "end_frame": 920, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684410, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 225, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 653, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 653, "end_frame": 758, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 758, "end_frame": 885, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684425, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 219, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 219, "end_frame": 683, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 683, "end_frame": 801, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 801, "end_frame": 939, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684466, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 614, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 614, "end_frame": 716, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 716, "end_frame": 849, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684487, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 229, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 644, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 644, "end_frame": 753, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 753, "end_frame": 872, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684496, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 620, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 620, "end_frame": 724, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 724, "end_frame": 866, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684507, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 645, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 645, "end_frame": 755, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 755, "end_frame": 915, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684546, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 219, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 219, "end_frame": 588, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 588, "end_frame": 690, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 690, "end_frame": 819, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684562, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 223, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 670, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 670, "end_frame": 781, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 781, "end_frame": 941, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684574, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 674, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 674, "end_frame": 787, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 787, "end_frame": 897, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684592, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 660, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 660, "end_frame": 802, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 802, "end_frame": 921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684623, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 229, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 625, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 625, "end_frame": 745, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 745, "end_frame": 897, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684651, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 737, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 737, "end_frame": 859, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 859, "end_frame": 1016, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684660, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 205, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 205, "end_frame": 637, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 637, "end_frame": 759, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 759, "end_frame": 941, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684672, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 206, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 630, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 630, "end_frame": 756, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 756, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684681, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 679, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 679, "end_frame": 791, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 791, "end_frame": 914, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684714, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 207, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 636, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 636, "end_frame": 753, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 753, "end_frame": 907, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684737, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 209, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 622, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 622, "end_frame": 724, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 724, "end_frame": 849, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684806, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 720, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 720, "end_frame": 836, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 836, "end_frame": 1002, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684827, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 687, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 687, "end_frame": 801, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 801, "end_frame": 973, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684841, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 658, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 658, "end_frame": 802, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 802, "end_frame": 961, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684864, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 208, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 208, "end_frame": 879, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 879, "end_frame": 990, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 990, "end_frame": 1164, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684868, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 203, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 203, "end_frame": 736, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 736, "end_frame": 860, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 860, "end_frame": 991, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684878, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 200, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 652, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 652, "end_frame": 754, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 754, "end_frame": 965, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684887, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 661, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 661, "end_frame": 772, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 772, "end_frame": 956, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684905, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 782, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 782, "end_frame": 871, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 871, "end_frame": 1049, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684917, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 729, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 729, "end_frame": 850, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 850, "end_frame": 1035, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684940, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 769, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 769, "end_frame": 887, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1083, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684953, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 812, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 812, "end_frame": 939, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 939, "end_frame": 1113, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684964, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 598, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 598, "end_frame": 709, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 709, "end_frame": 913, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 684996, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 197, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 197, "end_frame": 643, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 643, "end_frame": 765, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 765, "end_frame": 952, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685006, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 207, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 207, "end_frame": 677, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 677, "end_frame": 813, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 813, "end_frame": 976, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685020, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 212, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 212, "end_frame": 654, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 654, "end_frame": 776, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 776, "end_frame": 948, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685040, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 191, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 191, "end_frame": 743, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 743, "end_frame": 902, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 902, "end_frame": 1048, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685068, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 613, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 613, "end_frame": 740, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 740, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685081, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 222, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 628, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 628, "end_frame": 744, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 744, "end_frame": 908, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685090, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 624, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 624, "end_frame": 741, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 741, "end_frame": 897, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685109, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 215, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 534, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 534, "end_frame": 650, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 650, "end_frame": 788, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685119, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 200, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 526, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 526, "end_frame": 627, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 627, "end_frame": 777, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685136, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 202, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 557, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 557, "end_frame": 654, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 654, "end_frame": 806, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685161, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 212, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 212, "end_frame": 531, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 531, "end_frame": 618, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 618, "end_frame": 750, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685171, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 217, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 217, "end_frame": 622, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 622, "end_frame": 733, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 733, "end_frame": 872, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685191, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 641, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 641, "end_frame": 755, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 755, "end_frame": 884, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685212, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 223, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 624, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 624, "end_frame": 739, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 739, "end_frame": 882, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685224, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 645, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 645, "end_frame": 754, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 754, "end_frame": 916, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685238, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 225, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 605, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 605, "end_frame": 698, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 698, "end_frame": 835, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685250, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 202, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 561, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 561, "end_frame": 665, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 665, "end_frame": 812, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685272, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 202, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 202, "end_frame": 524, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 524, "end_frame": 639, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 639, "end_frame": 781, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685284, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 214, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 560, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 560, "end_frame": 652, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 652, "end_frame": 813, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685308, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 206, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 617, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 617, "end_frame": 713, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 713, "end_frame": 877, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685321, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 205, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 205, "end_frame": 584, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 584, "end_frame": 689, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 689, "end_frame": 824, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685361, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 210, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 210, "end_frame": 557, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 557, "end_frame": 650, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 650, "end_frame": 767, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685375, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 581, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 581, "end_frame": 694, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 694, "end_frame": 815, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685413, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 547, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 547, "end_frame": 658, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 658, "end_frame": 790, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685426, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 573, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 573, "end_frame": 682, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 682, "end_frame": 807, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685482, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 206, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 612, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 612, "end_frame": 718, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 718, "end_frame": 831, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678610, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 999, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 999, "end_frame": 1093, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1093, "end_frame": 1299, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678939, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 698, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 698, "end_frame": 859, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 859, "end_frame": 1067, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678948, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 744, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 744, "end_frame": 861, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 861, "end_frame": 1085, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678964, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 811, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 811, "end_frame": 890, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 890, "end_frame": 1115, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678974, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 366, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 866, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 866, "end_frame": 985, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 985, "end_frame": 1191, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 678985, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 733, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 733, "end_frame": 855, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 855, "end_frame": 1088, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679021, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 318, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 710, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 710, "end_frame": 850, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 850, "end_frame": 1060, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679045, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 397, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 887, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 887, "end_frame": 1049, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1049, "end_frame": 1301, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679062, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 342, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 869, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 869, "end_frame": 1053, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1053, "end_frame": 1195, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679074, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 328, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 879, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 879, "end_frame": 1033, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1033, "end_frame": 1192, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679104, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 352, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 738, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 738, "end_frame": 910, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 910, "end_frame": 1141, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679115, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 372, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 792, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 792, "end_frame": 922, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1074, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679126, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 320, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 830, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 830, "end_frame": 953, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1134, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679175, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 287, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 719, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 719, "end_frame": 844, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 844, "end_frame": 1026, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679184, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 761, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 761, "end_frame": 894, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 894, "end_frame": 1075, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679198, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 338, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 1017, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1017, "end_frame": 1136, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1136, "end_frame": 1308, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679207, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 826, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 826, "end_frame": 927, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1141, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679259, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 769, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 769, "end_frame": 896, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 896, "end_frame": 1049, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679279, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 724, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 724, "end_frame": 830, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 830, "end_frame": 977, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679291, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 796, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 796, "end_frame": 914, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1057, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679322, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 790, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 790, "end_frame": 936, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 936, "end_frame": 1110, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679373, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 798, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 798, "end_frame": 907, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1011, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679385, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 312, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 687, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 687, "end_frame": 794, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 794, "end_frame": 915, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679415, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 877, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 877, "end_frame": 991, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1162, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679444, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 891, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 891, "end_frame": 992, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1145, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679614, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 676, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 676, "end_frame": 809, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 809, "end_frame": 1052, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679630, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 712, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 712, "end_frame": 860, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 860, "end_frame": 1059, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679646, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 805, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 805, "end_frame": 927, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1101, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679672, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 722, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 722, "end_frame": 858, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 858, "end_frame": 1059, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679685, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 261, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 673, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 673, "end_frame": 815, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 815, "end_frame": 996, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679697, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 67, "end_frame": 274, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 697, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 697, "end_frame": 826, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 826, "end_frame": 970, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679708, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 262, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 673, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 673, "end_frame": 793, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 793, "end_frame": 936, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679728, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 267, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 592, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 592, "end_frame": 696, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 696, "end_frame": 846, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679741, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 261, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 702, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 702, "end_frame": 822, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 822, "end_frame": 985, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679798, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 238, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 780, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 780, "end_frame": 883, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 883, "end_frame": 1023, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679834, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 708, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 708, "end_frame": 846, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 846, "end_frame": 1021, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679867, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 892, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 892, "end_frame": 992, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1130, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679878, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 214, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 808, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 808, "end_frame": 904, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 904, "end_frame": 1052, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679907, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 874, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 874, "end_frame": 991, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1142, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 679918, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 250, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 1015, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1015, "end_frame": 1134, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1134, "end_frame": 1257, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680001, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 742, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 742, "end_frame": 841, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 841, "end_frame": 999, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680012, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 250, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 647, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 647, "end_frame": 758, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 758, "end_frame": 983, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680041, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 715, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 715, "end_frame": 839, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 839, "end_frame": 1018, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680050, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 274, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 679, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 679, "end_frame": 803, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 803, "end_frame": 958, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680060, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 881, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 881, "end_frame": 988, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1124, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680073, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 907, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 907, "end_frame": 1032, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1032, "end_frame": 1192, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680091, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 989, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 989, "end_frame": 1116, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1116, "end_frame": 1276, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680099, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 783, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 783, "end_frame": 889, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 889, "end_frame": 1036, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680111, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 226, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 724, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 724, "end_frame": 832, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 832, "end_frame": 1025, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680124, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 270, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 697, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 697, "end_frame": 835, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 835, "end_frame": 979, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680146, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 599, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 599, "end_frame": 719, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 719, "end_frame": 891, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680158, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 594, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 594, "end_frame": 737, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 737, "end_frame": 887, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680171, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 205, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 205, "end_frame": 525, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 525, "end_frame": 665, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 665, "end_frame": 836, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680185, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 273, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 648, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 648, "end_frame": 796, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 796, "end_frame": 953, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680221, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 705, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 705, "end_frame": 828, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 828, "end_frame": 981, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680231, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 253, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 657, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 657, "end_frame": 786, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 786, "end_frame": 924, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680241, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 594, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 594, "end_frame": 727, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 727, "end_frame": 921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680255, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 620, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 620, "end_frame": 732, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 732, "end_frame": 973, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680271, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 261, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 598, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 598, "end_frame": 736, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 736, "end_frame": 946, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680288, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 242, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 552, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 552, "end_frame": 657, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 657, "end_frame": 845, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680306, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 568, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 568, "end_frame": 695, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 695, "end_frame": 879, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680336, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 285, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 670, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 670, "end_frame": 784, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 784, "end_frame": 955, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680354, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 274, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 714, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 714, "end_frame": 824, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 824, "end_frame": 983, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680378, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 551, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 551, "end_frame": 650, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 650, "end_frame": 819, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680387, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 649, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 649, "end_frame": 792, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 792, "end_frame": 956, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680403, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 287, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 659, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 659, "end_frame": 799, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 799, "end_frame": 999, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680415, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 754, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 754, "end_frame": 879, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 879, "end_frame": 1042, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680431, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 258, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 621, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 621, "end_frame": 736, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 736, "end_frame": 887, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680444, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 279, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 674, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 674, "end_frame": 800, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 800, "end_frame": 955, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680462, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 670, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 670, "end_frame": 780, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 780, "end_frame": 944, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680475, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 581, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 581, "end_frame": 677, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 677, "end_frame": 830, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680483, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 215, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 567, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 567, "end_frame": 695, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 695, "end_frame": 828, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680490, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 229, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 560, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 560, "end_frame": 668, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 668, "end_frame": 817, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680494, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 242, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 605, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 605, "end_frame": 708, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 708, "end_frame": 846, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 680498, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 260, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 611, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 611, "end_frame": 702, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 702, "end_frame": 863, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681624, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 1077, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1077, "end_frame": 1243, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1243, "end_frame": 1425, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681635, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 1075, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1075, "end_frame": 1258, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1258, "end_frame": 1476, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681653, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 1257, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1257, "end_frame": 1365, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1365, "end_frame": 1625, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681675, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 1157, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1157, "end_frame": 1290, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1290, "end_frame": 1563, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681697, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 1033, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1033, "end_frame": 1218, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1218, "end_frame": 1424, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681771, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 313, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 948, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 948, "end_frame": 1082, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1082, "end_frame": 1290, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681840, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 768, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 768, "end_frame": 937, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 937, "end_frame": 1143, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681852, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 303, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 747, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 747, "end_frame": 902, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 902, "end_frame": 1092, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681872, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 360, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 1047, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1047, "end_frame": 1210, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1210, "end_frame": 1421, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681894, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 295, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 814, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 814, "end_frame": 1008, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1008, "end_frame": 1228, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681970, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 901, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 901, "end_frame": 1025, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1025, "end_frame": 1282, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682042, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 345, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 785, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 785, "end_frame": 956, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 956, "end_frame": 1178, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682072, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 861, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 861, "end_frame": 1060, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1060, "end_frame": 1299, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682094, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 797, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 797, "end_frame": 999, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 999, "end_frame": 1224, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682105, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 824, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 824, "end_frame": 974, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 974, "end_frame": 1123, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682153, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 270, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 748, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 748, "end_frame": 927, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1107, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682205, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 768, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 768, "end_frame": 924, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 924, "end_frame": 1129, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682249, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 814, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 814, "end_frame": 988, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1233, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682265, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 750, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 750, "end_frame": 920, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 920, "end_frame": 1143, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682295, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 228, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 669, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 669, "end_frame": 849, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 849, "end_frame": 1045, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682344, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 262, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 791, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 791, "end_frame": 928, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 928, "end_frame": 1116, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682354, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 214, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 605, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 605, "end_frame": 746, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 746, "end_frame": 955, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682372, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 756, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 756, "end_frame": 916, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 916, "end_frame": 1094, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682389, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 753, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 753, "end_frame": 922, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1125, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682430, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 947, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 947, "end_frame": 1105, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1105, "end_frame": 1326, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682435, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 809, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 809, "end_frame": 989, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 989, "end_frame": 1173, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682451, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 778, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 778, "end_frame": 931, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 931, "end_frame": 1135, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682463, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 856, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 856, "end_frame": 1035, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1035, "end_frame": 1262, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682482, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 291, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 840, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 840, "end_frame": 1026, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1026, "end_frame": 1213, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682503, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 793, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 793, "end_frame": 972, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 972, "end_frame": 1193, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682519, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 774, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 774, "end_frame": 957, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 957, "end_frame": 1141, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682533, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 839, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 839, "end_frame": 1015, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1015, "end_frame": 1219, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682556, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 803, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 803, "end_frame": 983, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 983, "end_frame": 1188, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682572, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 360, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 953, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 953, "end_frame": 1142, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1142, "end_frame": 1328, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682589, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 318, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 869, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 869, "end_frame": 1027, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1027, "end_frame": 1273, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682601, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 955, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 955, "end_frame": 1160, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1160, "end_frame": 1400, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682621, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 374, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 374, "end_frame": 919, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 919, "end_frame": 1123, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1123, "end_frame": 1325, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682632, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 1029, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1029, "end_frame": 1199, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1199, "end_frame": 1467, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682645, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 899, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 899, "end_frame": 1058, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1058, "end_frame": 1334, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682657, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 891, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 891, "end_frame": 1075, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1075, "end_frame": 1293, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682679, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 312, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 891, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 891, "end_frame": 1036, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1036, "end_frame": 1238, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682692, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 923, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 923, "end_frame": 1098, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1098, "end_frame": 1379, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682705, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 935, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 935, "end_frame": 1141, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1141, "end_frame": 1353, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682766, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 936, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 936, "end_frame": 1104, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1104, "end_frame": 1315, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682812, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 871, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 871, "end_frame": 1051, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1051, "end_frame": 1292, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682829, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 948, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 948, "end_frame": 1125, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1125, "end_frame": 1323, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682848, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 381, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 1055, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1055, "end_frame": 1299, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1299, "end_frame": 1586, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682890, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 433, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 433, "end_frame": 1225, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1225, "end_frame": 1440, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1440, "end_frame": 1705, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682916, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 347, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 1016, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1016, "end_frame": 1240, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1240, "end_frame": 1553, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682935, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 937, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 937, "end_frame": 1138, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1138, "end_frame": 1413, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682964, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 376, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 1027, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1027, "end_frame": 1242, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1242, "end_frame": 1547, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682981, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 309, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 995, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 995, "end_frame": 1184, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1184, "end_frame": 1431, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683054, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 793, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 793, "end_frame": 929, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 929, "end_frame": 1179, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683085, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 849, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 849, "end_frame": 974, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 974, "end_frame": 1209, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683099, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 902, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 902, "end_frame": 1101, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1101, "end_frame": 1356, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683112, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 912, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 912, "end_frame": 1136, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1136, "end_frame": 1409, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683128, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 320, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 922, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 922, "end_frame": 1170, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1170, "end_frame": 1388, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683146, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 970, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 970, "end_frame": 1219, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1219, "end_frame": 1429, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683179, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 338, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 928, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 928, "end_frame": 1118, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1118, "end_frame": 1463, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683196, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 312, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 988, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 988, "end_frame": 1208, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1208, "end_frame": 1475, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683218, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 1020, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1020, "end_frame": 1277, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1277, "end_frame": 1549, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683253, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 999, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 999, "end_frame": 1175, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1175, "end_frame": 1433, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683268, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 873, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 873, "end_frame": 1087, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1087, "end_frame": 1306, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683308, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 376, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 895, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 895, "end_frame": 1018, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1018, "end_frame": 1219, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683324, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 811, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 811, "end_frame": 905, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 905, "end_frame": 1126, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683348, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 309, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 769, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 769, "end_frame": 909, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 909, "end_frame": 1111, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683363, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 881, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 881, "end_frame": 1106, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1106, "end_frame": 1364, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683381, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 801, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 801, "end_frame": 950, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 950, "end_frame": 1206, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683398, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 818, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 818, "end_frame": 985, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 985, "end_frame": 1193, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683416, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 665, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 665, "end_frame": 825, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 825, "end_frame": 1062, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683453, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 912, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 912, "end_frame": 1088, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1088, "end_frame": 1388, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683469, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 905, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 905, "end_frame": 1074, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1074, "end_frame": 1282, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683488, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 813, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 813, "end_frame": 981, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1239, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683499, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 822, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 822, "end_frame": 1013, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1013, "end_frame": 1199, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683509, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 650, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 650, "end_frame": 790, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 790, "end_frame": 1060, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683520, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 821, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 821, "end_frame": 974, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 974, "end_frame": 1219, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683530, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 766, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 766, "end_frame": 903, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1182, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683543, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 791, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 791, "end_frame": 953, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1213, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683557, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 200, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 200, "end_frame": 740, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 740, "end_frame": 869, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 869, "end_frame": 1095, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683570, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 831, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 831, "end_frame": 949, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1185, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683585, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 828, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 828, "end_frame": 1009, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1009, "end_frame": 1214, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683620, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 799, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 799, "end_frame": 969, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 969, "end_frame": 1168, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683629, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 831, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 831, "end_frame": 997, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 997, "end_frame": 1226, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683664, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 889, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 889, "end_frame": 1065, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1065, "end_frame": 1344, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683672, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 840, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 840, "end_frame": 1023, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1023, "end_frame": 1292, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686701, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 1031, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1031, "end_frame": 1180, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1180, "end_frame": 1354, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686710, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 1138, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1138, "end_frame": 1330, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1330, "end_frame": 1510, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686726, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 1021, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1021, "end_frame": 1163, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1163, "end_frame": 1388, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686736, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 355, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 971, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 971, "end_frame": 1100, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1100, "end_frame": 1324, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686746, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 261, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 864, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 864, "end_frame": 1044, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1044, "end_frame": 1266, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686759, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 252, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 875, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 875, "end_frame": 1036, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1036, "end_frame": 1290, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686804, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 923, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 923, "end_frame": 1082, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1082, "end_frame": 1276, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686812, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 861, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 861, "end_frame": 977, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 977, "end_frame": 1221, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686854, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 832, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 832, "end_frame": 958, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 958, "end_frame": 1210, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686869, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 749, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 749, "end_frame": 877, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 877, "end_frame": 1110, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686877, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 937, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 937, "end_frame": 1071, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1071, "end_frame": 1273, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686903, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 380, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 1097, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1097, "end_frame": 1245, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1245, "end_frame": 1429, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686919, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 391, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 391, "end_frame": 1054, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1054, "end_frame": 1199, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1199, "end_frame": 1399, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686927, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 346, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 939, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 939, "end_frame": 1086, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1086, "end_frame": 1285, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686937, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 995, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 995, "end_frame": 1113, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1113, "end_frame": 1337, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686952, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 325, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 836, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 836, "end_frame": 954, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 954, "end_frame": 1106, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686972, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 863, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 863, "end_frame": 978, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 978, "end_frame": 1181, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686982, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 407, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 407, "end_frame": 925, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 925, "end_frame": 1083, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1083, "end_frame": 1356, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686998, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 823, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 823, "end_frame": 996, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 996, "end_frame": 1169, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687117, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 350, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 996, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 996, "end_frame": 1142, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1142, "end_frame": 1325, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687137, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 894, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 894, "end_frame": 1097, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1097, "end_frame": 1305, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687154, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 384, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 384, "end_frame": 1043, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1043, "end_frame": 1234, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1234, "end_frame": 1394, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687215, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 368, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 368, "end_frame": 1130, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1130, "end_frame": 1292, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1292, "end_frame": 1456, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687227, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 382, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 382, "end_frame": 901, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 901, "end_frame": 1097, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1097, "end_frame": 1317, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687264, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 332, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 1035, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1035, "end_frame": 1184, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1184, "end_frame": 1397, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687295, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 349, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 873, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 873, "end_frame": 1034, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1034, "end_frame": 1213, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687313, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 325, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 909, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 909, "end_frame": 1091, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1091, "end_frame": 1326, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687473, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 875, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 875, "end_frame": 1019, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1019, "end_frame": 1240, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687498, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 313, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 908, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 908, "end_frame": 1082, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1082, "end_frame": 1274, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687519, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 1025, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1025, "end_frame": 1187, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1187, "end_frame": 1392, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687540, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 806, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 806, "end_frame": 1004, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1004, "end_frame": 1208, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687565, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 3, "end_frame": 359, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 788, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 788, "end_frame": 965, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 965, "end_frame": 1148, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687578, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 771, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 771, "end_frame": 963, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 963, "end_frame": 1170, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687590, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 851, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 851, "end_frame": 1055, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1055, "end_frame": 1201, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687599, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 969, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 969, "end_frame": 1224, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1224, "end_frame": 1461, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687613, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 908, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 908, "end_frame": 1090, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1090, "end_frame": 1299, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687624, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 347, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 1016, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1016, "end_frame": 1240, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1240, "end_frame": 1470, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687642, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 362, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 873, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 873, "end_frame": 1095, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1095, "end_frame": 1271, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687653, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 901, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 901, "end_frame": 1067, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1067, "end_frame": 1319, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687662, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 357, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 885, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 885, "end_frame": 1081, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1299, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687742, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 332, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 922, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 922, "end_frame": 1117, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1117, "end_frame": 1314, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687752, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 6, "end_frame": 340, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 340, "end_frame": 1059, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1059, "end_frame": 1217, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1217, "end_frame": 1460, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687817, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 1015, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1015, "end_frame": 1190, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1190, "end_frame": 1373, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687829, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 371, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 895, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 895, "end_frame": 1051, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1051, "end_frame": 1241, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687841, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 478, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 478, "end_frame": 880, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 880, "end_frame": 1035, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1035, "end_frame": 1213, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687857, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 1043, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1043, "end_frame": 1211, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1211, "end_frame": 1411, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687870, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 1041, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1041, "end_frame": 1175, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1175, "end_frame": 1353, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687892, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 366, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 926, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 926, "end_frame": 1112, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1112, "end_frame": 1264, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687901, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 865, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 865, "end_frame": 1023, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1023, "end_frame": 1252, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687915, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 361, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 887, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 887, "end_frame": 1066, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1066, "end_frame": 1287, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687933, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 852, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 852, "end_frame": 1005, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1005, "end_frame": 1229, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688008, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 4, "end_frame": 376, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 1328, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1328, "end_frame": 1478, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1478, "end_frame": 1661, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688018, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 395, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 1028, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1028, "end_frame": 1180, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1180, "end_frame": 1387, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688031, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 499, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 499, "end_frame": 1273, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1273, "end_frame": 1417, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1417, "end_frame": 1605, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688046, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 372, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 1047, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1047, "end_frame": 1193, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1193, "end_frame": 1398, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688063, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 390, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 390, "end_frame": 1234, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1234, "end_frame": 1380, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1380, "end_frame": 1559, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688109, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 1358, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1358, "end_frame": 1543, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1543, "end_frame": 1711, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688125, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 392, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 392, "end_frame": 1070, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1070, "end_frame": 1246, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1246, "end_frame": 1425, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688141, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 338, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 996, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 996, "end_frame": 1178, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1178, "end_frame": 1357, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688154, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 424, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 424, "end_frame": 1035, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1035, "end_frame": 1163, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1163, "end_frame": 1355, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688176, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 908, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 908, "end_frame": 1054, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1054, "end_frame": 1204, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688189, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 105, "end_frame": 434, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 434, "end_frame": 1153, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1153, "end_frame": 1275, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1275, "end_frame": 1446, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688202, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 408, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 408, "end_frame": 980, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 980, "end_frame": 1110, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1110, "end_frame": 1300, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688219, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 288, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 965, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 965, "end_frame": 1165, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1165, "end_frame": 1312, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688230, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 316, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 955, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 955, "end_frame": 1094, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1094, "end_frame": 1301, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688240, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 1053, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1053, "end_frame": 1197, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1197, "end_frame": 1407, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688253, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 888, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 888, "end_frame": 1063, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1063, "end_frame": 1252, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688261, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 311, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 759, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 759, "end_frame": 929, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 929, "end_frame": 1107, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688273, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 813, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 813, "end_frame": 957, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 957, "end_frame": 1164, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688283, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 930, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 930, "end_frame": 1072, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1072, "end_frame": 1252, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688292, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 390, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 390, "end_frame": 858, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 858, "end_frame": 1027, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1027, "end_frame": 1237, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688305, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 715, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 715, "end_frame": 851, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 851, "end_frame": 1060, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688315, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 874, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 874, "end_frame": 1039, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1039, "end_frame": 1229, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688326, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 770, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 770, "end_frame": 909, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 909, "end_frame": 1086, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688336, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 957, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 957, "end_frame": 1096, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1096, "end_frame": 1271, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688350, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 909, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 909, "end_frame": 1067, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1067, "end_frame": 1239, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688355, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 816, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 816, "end_frame": 959, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 959, "end_frame": 1148, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688388, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 688, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 688, "end_frame": 871, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 871, "end_frame": 1067, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688397, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 831, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 831, "end_frame": 991, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1268, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688406, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 704, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 704, "end_frame": 863, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 863, "end_frame": 1054, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688419, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 712, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 712, "end_frame": 861, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 861, "end_frame": 1082, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688432, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 815, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 815, "end_frame": 960, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 960, "end_frame": 1151, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688444, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 666, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 666, "end_frame": 805, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 805, "end_frame": 989, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688455, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 282, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 856, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 856, "end_frame": 1005, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1005, "end_frame": 1176, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688463, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 683, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 683, "end_frame": 858, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 858, "end_frame": 1045, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688476, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 740, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 740, "end_frame": 880, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 880, "end_frame": 1075, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688485, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 759, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 759, "end_frame": 888, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 888, "end_frame": 1149, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688493, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 883, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 883, "end_frame": 1049, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1049, "end_frame": 1243, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688502, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 658, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 658, "end_frame": 784, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 784, "end_frame": 959, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688514, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 767, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 767, "end_frame": 944, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 944, "end_frame": 1139, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688523, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 718, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 718, "end_frame": 871, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 871, "end_frame": 1026, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688534, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 776, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 776, "end_frame": 934, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 934, "end_frame": 1118, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688546, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 821, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 821, "end_frame": 991, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1167, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688555, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 723, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 723, "end_frame": 871, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 871, "end_frame": 1020, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688566, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 211, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 597, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 597, "end_frame": 721, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 721, "end_frame": 865, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688577, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 625, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 625, "end_frame": 769, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 769, "end_frame": 905, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688584, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 692, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 692, "end_frame": 841, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 841, "end_frame": 989, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688599, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 685, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 685, "end_frame": 844, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 844, "end_frame": 1015, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688609, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 765, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 765, "end_frame": 925, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 925, "end_frame": 1068, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688623, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 692, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 692, "end_frame": 813, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 813, "end_frame": 972, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688634, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 689, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 689, "end_frame": 833, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 833, "end_frame": 985, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688648, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 681, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 681, "end_frame": 852, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 852, "end_frame": 1025, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688661, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 252, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 743, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 743, "end_frame": 905, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 905, "end_frame": 1071, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688670, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 699, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 699, "end_frame": 811, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 811, "end_frame": 1031, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688685, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 676, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 676, "end_frame": 817, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 817, "end_frame": 985, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688694, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 728, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 728, "end_frame": 882, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 882, "end_frame": 1042, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688706, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 668, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 668, "end_frame": 850, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 850, "end_frame": 992, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688719, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 210, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 210, "end_frame": 600, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 600, "end_frame": 789, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 789, "end_frame": 997, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688732, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 205, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 205, "end_frame": 731, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 731, "end_frame": 925, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 925, "end_frame": 1070, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688743, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 811, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 811, "end_frame": 963, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 963, "end_frame": 1102, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688755, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 661, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 661, "end_frame": 817, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 817, "end_frame": 966, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688765, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 763, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 763, "end_frame": 926, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 926, "end_frame": 1055, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688786, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 726, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 726, "end_frame": 913, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 913, "end_frame": 1068, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688797, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 639, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 639, "end_frame": 801, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 801, "end_frame": 928, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688806, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 715, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 715, "end_frame": 849, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 849, "end_frame": 994, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688815, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 250, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 834, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 834, "end_frame": 1018, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1018, "end_frame": 1130, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688830, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 686, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 686, "end_frame": 848, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 848, "end_frame": 1004, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688841, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 259, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 756, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 756, "end_frame": 943, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1118, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688849, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 767, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 767, "end_frame": 875, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 875, "end_frame": 1040, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688859, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 798, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 798, "end_frame": 914, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1107, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688868, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 641, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 641, "end_frame": 771, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 771, "end_frame": 923, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688880, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 821, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 821, "end_frame": 946, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 946, "end_frame": 1118, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688892, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 764, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 764, "end_frame": 917, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 917, "end_frame": 1070, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688900, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 761, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 761, "end_frame": 909, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 909, "end_frame": 1157, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688914, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 822, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 822, "end_frame": 974, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 974, "end_frame": 1116, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688923, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 640, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 640, "end_frame": 810, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 810, "end_frame": 962, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688932, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 771, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 771, "end_frame": 917, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 917, "end_frame": 1073, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688942, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 777, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 777, "end_frame": 919, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 919, "end_frame": 1108, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688954, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 666, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 666, "end_frame": 835, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 835, "end_frame": 1018, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688966, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 773, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 773, "end_frame": 927, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1084, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688977, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 670, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 670, "end_frame": 810, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 810, "end_frame": 999, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688988, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 6, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 766, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 766, "end_frame": 929, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 929, "end_frame": 1099, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689002, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 606, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 606, "end_frame": 764, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 764, "end_frame": 873, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689010, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 795, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 795, "end_frame": 947, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 947, "end_frame": 1092, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689024, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 665, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 665, "end_frame": 795, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 795, "end_frame": 981, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689043, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 653, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 653, "end_frame": 805, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 805, "end_frame": 1001, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689055, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 675, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 675, "end_frame": 827, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 827, "end_frame": 1016, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689069, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 818, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 818, "end_frame": 988, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1174, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689085, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 664, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 664, "end_frame": 822, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 822, "end_frame": 971, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689094, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 687, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 687, "end_frame": 821, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 821, "end_frame": 970, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689107, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 788, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 788, "end_frame": 910, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 910, "end_frame": 1042, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689124, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 779, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 779, "end_frame": 963, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 963, "end_frame": 1136, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689132, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 714, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 714, "end_frame": 849, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 849, "end_frame": 971, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689150, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 748, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 748, "end_frame": 889, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 889, "end_frame": 1022, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689163, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 697, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 697, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 988, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689180, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 576, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 576, "end_frame": 683, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 683, "end_frame": 804, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703542, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 549, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 549, "end_frame": 1166, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1166, "end_frame": 1240, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1240, "end_frame": 1379, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703597, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 433, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 433, "end_frame": 854, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 854, "end_frame": 939, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 939, "end_frame": 1131, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703621, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 369, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 369, "end_frame": 1036, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1036, "end_frame": 1108, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1108, "end_frame": 1223, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703655, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 1047, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1047, "end_frame": 1125, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1125, "end_frame": 1257, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703678, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 868, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 868, "end_frame": 932, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 932, "end_frame": 1052, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703695, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 418, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 418, "end_frame": 913, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 913, "end_frame": 989, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 989, "end_frame": 1139, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703756, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 646, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 646, "end_frame": 725, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 725, "end_frame": 834, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703779, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 441, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 441, "end_frame": 1191, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1191, "end_frame": 1261, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1261, "end_frame": 1393, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703795, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 932, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 932, "end_frame": 996, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 996, "end_frame": 1159, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703804, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 891, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 891, "end_frame": 969, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 969, "end_frame": 1139, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703878, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 347, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 955, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 955, "end_frame": 1045, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1045, "end_frame": 1173, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703887, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 681, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 681, "end_frame": 759, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 759, "end_frame": 906, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703897, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 114, "end_frame": 491, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 491, "end_frame": 1060, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1060, "end_frame": 1206, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1206, "end_frame": 1354, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703909, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 757, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 757, "end_frame": 844, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 844, "end_frame": 981, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703920, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 724, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 724, "end_frame": 797, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 797, "end_frame": 934, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703988, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 633, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 633, "end_frame": 704, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 704, "end_frame": 835, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704001, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 767, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 767, "end_frame": 848, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 848, "end_frame": 975, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704032, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 446, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 446, "end_frame": 853, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 853, "end_frame": 917, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 917, "end_frame": 1064, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704043, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 360, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 707, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 707, "end_frame": 778, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 778, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704058, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 357, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 753, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 753, "end_frame": 821, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 821, "end_frame": 991, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704070, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 642, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 642, "end_frame": 710, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 710, "end_frame": 840, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704080, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 662, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 662, "end_frame": 741, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 741, "end_frame": 875, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704267, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 687, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 687, "end_frame": 751, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 751, "end_frame": 892, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704295, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 619, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 619, "end_frame": 700, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 700, "end_frame": 855, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704314, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 344, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 344, "end_frame": 673, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 673, "end_frame": 739, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 739, "end_frame": 853, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704326, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 716, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 716, "end_frame": 811, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 811, "end_frame": 933, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704340, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 923, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 923, "end_frame": 992, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1137, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704350, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 468, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 468, "end_frame": 921, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 921, "end_frame": 988, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1148, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704364, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 395, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 851, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 851, "end_frame": 918, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 918, "end_frame": 1059, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704382, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 689, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 689, "end_frame": 757, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 757, "end_frame": 879, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704393, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 413, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 413, "end_frame": 759, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 759, "end_frame": 833, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 833, "end_frame": 951, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704411, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 846, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 846, "end_frame": 927, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1024, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704422, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 421, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 421, "end_frame": 785, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 785, "end_frame": 860, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 860, "end_frame": 981, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704433, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 679, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 679, "end_frame": 749, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 749, "end_frame": 880, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704450, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 679, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 679, "end_frame": 738, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 738, "end_frame": 860, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704460, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 991, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 991, "end_frame": 1042, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1042, "end_frame": 1158, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704475, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 396, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 396, "end_frame": 957, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 957, "end_frame": 1032, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1032, "end_frame": 1172, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704489, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 894, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 894, "end_frame": 961, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 961, "end_frame": 1136, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704501, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 358, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 969, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 969, "end_frame": 1036, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1036, "end_frame": 1202, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704520, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 379, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 879, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 879, "end_frame": 973, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 973, "end_frame": 1125, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704531, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 400, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 858, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 858, "end_frame": 906, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 906, "end_frame": 1073, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704546, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 362, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 937, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 937, "end_frame": 1021, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1021, "end_frame": 1133, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704560, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 424, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 424, "end_frame": 806, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 806, "end_frame": 868, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 868, "end_frame": 1023, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704600, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 775, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 775, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 954, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704621, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 723, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 723, "end_frame": 797, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 797, "end_frame": 952, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704639, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 487, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 487, "end_frame": 1050, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1050, "end_frame": 1124, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1124, "end_frame": 1268, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704652, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 723, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 723, "end_frame": 792, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 792, "end_frame": 926, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704662, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 736, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 736, "end_frame": 801, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 801, "end_frame": 941, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704676, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 448, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 448, "end_frame": 792, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 792, "end_frame": 868, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 868, "end_frame": 1035, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704692, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 341, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 725, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 725, "end_frame": 800, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 800, "end_frame": 935, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704704, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 812, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 812, "end_frame": 887, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1051, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704714, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 355, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 1022, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1022, "end_frame": 1110, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1110, "end_frame": 1242, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704726, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 417, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 417, "end_frame": 1009, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1009, "end_frame": 1081, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1225, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704744, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 397, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 908, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 908, "end_frame": 981, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1099, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704761, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 958, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 958, "end_frame": 1062, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1062, "end_frame": 1184, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704779, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 328, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 1062, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1062, "end_frame": 1132, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1132, "end_frame": 1255, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707736, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 488, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 488, "end_frame": 1020, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1020, "end_frame": 1087, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1087, "end_frame": 1227, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707765, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 430, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 430, "end_frame": 978, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 978, "end_frame": 1053, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1053, "end_frame": 1168, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707769, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 382, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 382, "end_frame": 782, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 782, "end_frame": 847, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 847, "end_frame": 977, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707784, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 420, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 420, "end_frame": 878, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 878, "end_frame": 936, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 936, "end_frame": 1052, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707798, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 399, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 904, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 904, "end_frame": 975, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 975, "end_frame": 1144, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707806, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 429, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 429, "end_frame": 943, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 943, "end_frame": 1029, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1029, "end_frame": 1186, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707813, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 387, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 860, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 860, "end_frame": 938, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 938, "end_frame": 1068, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707824, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 883, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 883, "end_frame": 958, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 958, "end_frame": 1070, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707835, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 403, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 403, "end_frame": 951, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 951, "end_frame": 1015, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1015, "end_frame": 1170, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707888, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 361, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 893, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 893, "end_frame": 949, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1091, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707908, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 394, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 394, "end_frame": 911, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 911, "end_frame": 970, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 970, "end_frame": 1171, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707936, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 172, "end_frame": 459, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 459, "end_frame": 1208, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1208, "end_frame": 1268, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1268, "end_frame": 1428, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 459, "end": 1208, "description": "" } ] } }, { "episode_id": 707944, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 407, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 407, "end_frame": 1102, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1102, "end_frame": 1159, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1159, "end_frame": 1318, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 407, "end": 1102, "description": "" } ] } }, { "episode_id": 707954, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 85, "end_frame": 572, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 572, "end_frame": 1162, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1162, "end_frame": 1255, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1255, "end_frame": 1415, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707971, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 352, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 1111, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1111, "end_frame": 1186, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1186, "end_frame": 1332, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707986, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 373, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 373, "end_frame": 935, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 935, "end_frame": 1009, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1009, "end_frame": 1222, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 707994, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 745, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 745, "end_frame": 818, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 818, "end_frame": 963, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708043, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 982, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 982, "end_frame": 1037, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1037, "end_frame": 1188, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708056, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 349, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 770, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 770, "end_frame": 836, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 836, "end_frame": 973, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708066, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 153, "end_frame": 446, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 446, "end_frame": 935, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 935, "end_frame": 998, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 998, "end_frame": 1141, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708076, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 807, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 807, "end_frame": 897, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 897, "end_frame": 995, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708103, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 397, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 893, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 893, "end_frame": 973, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 973, "end_frame": 1121, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708120, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 411, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 411, "end_frame": 964, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 964, "end_frame": 1036, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1036, "end_frame": 1164, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708131, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 685, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 685, "end_frame": 743, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 743, "end_frame": 872, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708143, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 360, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 906, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 906, "end_frame": 974, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 974, "end_frame": 1113, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708156, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 401, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 401, "end_frame": 822, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 822, "end_frame": 887, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1065, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708166, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 858, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 858, "end_frame": 931, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 931, "end_frame": 1062, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708241, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 117, "end_frame": 432, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 432, "end_frame": 988, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 988, "end_frame": 1056, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1056, "end_frame": 1190, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708265, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 439, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 439, "end_frame": 972, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 972, "end_frame": 1030, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1030, "end_frame": 1222, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708279, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 403, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 403, "end_frame": 990, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 990, "end_frame": 1060, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1060, "end_frame": 1186, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708297, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 391, "end_frame": 813, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 813, "end_frame": 878, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 878, "end_frame": 1027, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708310, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 463, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 463, "end_frame": 1022, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1022, "end_frame": 1074, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1074, "end_frame": 1296, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708326, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 461, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 461, "end_frame": 1014, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1014, "end_frame": 1082, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1082, "end_frame": 1236, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708397, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 349, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 718, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 718, "end_frame": 792, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 792, "end_frame": 922, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708419, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 484, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 484, "end_frame": 1039, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1039, "end_frame": 1118, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1118, "end_frame": 1300, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708437, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 467, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 467, "end_frame": 949, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 949, "end_frame": 1025, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1025, "end_frame": 1233, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708453, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 859, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 859, "end_frame": 940, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 940, "end_frame": 1092, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708465, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 390, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 390, "end_frame": 877, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 877, "end_frame": 959, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 959, "end_frame": 1084, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708483, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 383, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 925, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 925, "end_frame": 986, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 986, "end_frame": 1135, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708506, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 463, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 463, "end_frame": 910, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 910, "end_frame": 1002, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1002, "end_frame": 1153, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708513, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 363, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 932, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 932, "end_frame": 1004, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1004, "end_frame": 1223, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708527, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 407, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 407, "end_frame": 952, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 952, "end_frame": 1030, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1030, "end_frame": 1255, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708539, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 430, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 430, "end_frame": 930, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 930, "end_frame": 1025, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1025, "end_frame": 1247, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708561, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 458, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 458, "end_frame": 935, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 935, "end_frame": 1011, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1011, "end_frame": 1146, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708575, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 399, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 928, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 928, "end_frame": 987, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 987, "end_frame": 1160, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 399, "end": 928, "description": "" } ] } }, { "episode_id": 708585, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 79, "end_frame": 406, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 406, "end_frame": 869, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 869, "end_frame": 951, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 951, "end_frame": 1165, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708636, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 470, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 470, "end_frame": 1010, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1010, "end_frame": 1075, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1075, "end_frame": 1217, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708645, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 369, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 369, "end_frame": 913, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 913, "end_frame": 994, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 994, "end_frame": 1187, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708656, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 378, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 826, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 826, "end_frame": 905, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 905, "end_frame": 1067, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708666, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 436, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 436, "end_frame": 920, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 920, "end_frame": 1006, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1006, "end_frame": 1185, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708672, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 386, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 860, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 860, "end_frame": 937, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 937, "end_frame": 1066, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708694, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 792, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 792, "end_frame": 862, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 862, "end_frame": 1082, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708705, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 420, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 420, "end_frame": 892, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 892, "end_frame": 966, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 966, "end_frame": 1115, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708714, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 335, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 786, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 786, "end_frame": 849, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 849, "end_frame": 1005, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708726, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 375, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 813, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 813, "end_frame": 889, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 889, "end_frame": 1054, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708734, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 363, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 796, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 796, "end_frame": 866, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 866, "end_frame": 1042, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708746, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 409, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 409, "end_frame": 1033, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1033, "end_frame": 1109, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1109, "end_frame": 1269, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708758, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 487, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 487, "end_frame": 1088, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1088, "end_frame": 1151, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1151, "end_frame": 1288, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708771, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 465, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 465, "end_frame": 948, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 948, "end_frame": 998, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 998, "end_frame": 1160, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708778, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 380, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 816, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 816, "end_frame": 888, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 888, "end_frame": 1077, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708787, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 309, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 730, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 730, "end_frame": 798, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 798, "end_frame": 952, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685641, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 772, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 772, "end_frame": 879, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 879, "end_frame": 1071, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685674, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 792, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 792, "end_frame": 925, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 925, "end_frame": 1069, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685708, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 745, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 745, "end_frame": 885, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 885, "end_frame": 1064, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685727, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 729, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 729, "end_frame": 862, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 862, "end_frame": 1051, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685742, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 735, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 735, "end_frame": 846, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 846, "end_frame": 1009, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685779, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 712, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 712, "end_frame": 853, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 853, "end_frame": 1004, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685826, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 673, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 673, "end_frame": 795, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 795, "end_frame": 972, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685855, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 735, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 735, "end_frame": 841, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 841, "end_frame": 974, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685870, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 625, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 625, "end_frame": 743, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 743, "end_frame": 883, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685904, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 709, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 709, "end_frame": 836, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 836, "end_frame": 962, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 685954, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 285, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 689, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 689, "end_frame": 804, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 804, "end_frame": 930, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686143, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 602, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 602, "end_frame": 742, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 742, "end_frame": 867, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686152, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 557, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 557, "end_frame": 676, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 676, "end_frame": 862, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686171, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 608, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 608, "end_frame": 716, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 716, "end_frame": 863, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686204, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 683, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 683, "end_frame": 794, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 794, "end_frame": 970, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686241, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 548, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 548, "end_frame": 680, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 680, "end_frame": 872, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686282, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 618, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 618, "end_frame": 706, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 706, "end_frame": 915, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686289, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 597, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 597, "end_frame": 829, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 829, "end_frame": 988, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686300, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 601, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 601, "end_frame": 749, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 749, "end_frame": 918, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686313, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 607, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 607, "end_frame": 735, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 735, "end_frame": 914, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686323, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 635, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 635, "end_frame": 769, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 769, "end_frame": 918, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686337, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 526, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 526, "end_frame": 686, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 686, "end_frame": 881, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686349, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 232, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 585, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 585, "end_frame": 741, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 741, "end_frame": 890, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686362, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 592, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 592, "end_frame": 704, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 704, "end_frame": 903, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686398, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 561, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 561, "end_frame": 705, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 705, "end_frame": 896, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686405, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 546, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 546, "end_frame": 678, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 678, "end_frame": 855, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686417, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 636, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 636, "end_frame": 804, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 804, "end_frame": 950, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686429, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 229, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 571, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 571, "end_frame": 708, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 708, "end_frame": 968, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 686447, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 222, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 538, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 538, "end_frame": 661, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 661, "end_frame": 796, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689494, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 760, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 760, "end_frame": 924, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 924, "end_frame": 1041, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689504, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 606, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 606, "end_frame": 727, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 727, "end_frame": 898, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689509, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 680, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 680, "end_frame": 836, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 836, "end_frame": 1045, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689512, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 218, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 218, "end_frame": 618, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 618, "end_frame": 752, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 752, "end_frame": 915, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689515, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 222, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 574, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 574, "end_frame": 711, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 711, "end_frame": 913, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689523, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 204, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 204, "end_frame": 570, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 570, "end_frame": 693, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 693, "end_frame": 884, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683235, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 322, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 1016, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1016, "end_frame": 1123, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1123, "end_frame": 1347, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687271, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 519, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 519, "end_frame": 1263, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1263, "end_frame": 1351, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1351, "end_frame": 1634, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 0, "end": 519, "description": "" } ] } }, { "episode_id": 687288, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 359, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 998, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 998, "end_frame": 1099, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1099, "end_frame": 1374, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687314, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 378, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 1005, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1005, "end_frame": 1103, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1103, "end_frame": 1327, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687330, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 448, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 448, "end_frame": 1192, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1192, "end_frame": 1282, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1282, "end_frame": 1611, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687347, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 423, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 989, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 989, "end_frame": 1118, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1118, "end_frame": 1362, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687409, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 401, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 401, "end_frame": 880, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 880, "end_frame": 943, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1171, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687422, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 965, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 965, "end_frame": 1046, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1046, "end_frame": 1270, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687431, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 346, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 842, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 842, "end_frame": 923, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 923, "end_frame": 1159, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687440, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 959, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 959, "end_frame": 1050, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1050, "end_frame": 1303, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687458, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 410, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 410, "end_frame": 881, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 881, "end_frame": 975, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 975, "end_frame": 1297, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687477, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 908, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 908, "end_frame": 994, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 994, "end_frame": 1246, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687494, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 372, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 1124, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1124, "end_frame": 1226, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1226, "end_frame": 1533, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687547, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 881, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 881, "end_frame": 988, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1252, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687588, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 426, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 426, "end_frame": 1111, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1111, "end_frame": 1267, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1267, "end_frame": 1548, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687602, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 912, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 912, "end_frame": 993, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 993, "end_frame": 1224, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687633, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 1010, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1010, "end_frame": 1097, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1097, "end_frame": 1371, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687670, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 338, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 896, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 896, "end_frame": 981, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1257, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688478, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 1098, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1098, "end_frame": 1185, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1185, "end_frame": 1428, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688486, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 876, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 876, "end_frame": 979, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 979, "end_frame": 1203, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688508, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 867, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 867, "end_frame": 940, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 940, "end_frame": 1153, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688520, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 775, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 775, "end_frame": 871, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 871, "end_frame": 1170, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688530, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 909, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 909, "end_frame": 1040, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1040, "end_frame": 1290, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688595, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 289, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 860, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 860, "end_frame": 958, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 958, "end_frame": 1167, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688603, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 800, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 800, "end_frame": 908, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 908, "end_frame": 1115, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688619, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 874, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 874, "end_frame": 975, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 975, "end_frame": 1190, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688630, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 778, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 778, "end_frame": 890, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 890, "end_frame": 1142, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688649, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 642, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 642, "end_frame": 723, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 723, "end_frame": 958, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688658, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 1041, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1041, "end_frame": 1128, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1128, "end_frame": 1344, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688669, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 348, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 931, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 931, "end_frame": 1004, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1004, "end_frame": 1258, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688711, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 793, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 793, "end_frame": 877, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 877, "end_frame": 1143, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688721, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 904, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 904, "end_frame": 997, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 997, "end_frame": 1185, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688734, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 325, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 926, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 926, "end_frame": 1023, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1023, "end_frame": 1268, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688762, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 1100, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1100, "end_frame": 1222, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1222, "end_frame": 1431, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 268, "end": 1100, "description": "" } ] } }, { "episode_id": 688775, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 851, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 851, "end_frame": 957, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 957, "end_frame": 1137, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688790, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 372, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 372, "end_frame": 1144, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1144, "end_frame": 1245, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1245, "end_frame": 1508, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688982, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 352, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 1192, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1192, "end_frame": 1283, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1283, "end_frame": 1537, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688998, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 10, "end_frame": 376, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 1200, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1200, "end_frame": 1339, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1339, "end_frame": 1523, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689014, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 1348, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1348, "end_frame": 1490, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1490, "end_frame": 1791, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689034, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 386, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 1340, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1340, "end_frame": 1454, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1454, "end_frame": 1640, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689084, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 759, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 759, "end_frame": 887, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1232, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689117, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 1076, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1076, "end_frame": 1194, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1194, "end_frame": 1404, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689172, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 373, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 373, "end_frame": 1453, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1453, "end_frame": 1559, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1559, "end_frame": 1780, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689190, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 868, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 868, "end_frame": 955, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 955, "end_frame": 1202, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689225, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 927, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 927, "end_frame": 1053, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1053, "end_frame": 1252, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689242, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 1057, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1057, "end_frame": 1152, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1343, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689262, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 332, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 1095, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1095, "end_frame": 1170, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1170, "end_frame": 1366, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689283, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 1078, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1078, "end_frame": 1175, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1175, "end_frame": 1381, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689296, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 983, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 983, "end_frame": 1095, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1095, "end_frame": 1289, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689307, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 274, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 897, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 897, "end_frame": 992, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1230, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689320, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 1130, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1130, "end_frame": 1256, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1256, "end_frame": 1467, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689351, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 313, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 856, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 856, "end_frame": 964, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 964, "end_frame": 1180, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689363, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 767, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 767, "end_frame": 930, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 930, "end_frame": 1143, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689376, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 1026, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1026, "end_frame": 1097, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1097, "end_frame": 1396, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 298, "end": 1026, "description": "" } ] } }, { "episode_id": 693620, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 743, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 743, "end_frame": 866, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 866, "end_frame": 1064, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693662, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 1040, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1040, "end_frame": 1139, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1139, "end_frame": 1378, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693675, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 875, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 875, "end_frame": 967, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 967, "end_frame": 1235, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693693, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 1037, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1037, "end_frame": 1125, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1125, "end_frame": 1308, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693702, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 863, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 863, "end_frame": 936, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 936, "end_frame": 1153, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693716, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 800, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 800, "end_frame": 887, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1105, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693727, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 322, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 1009, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1009, "end_frame": 1102, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1102, "end_frame": 1365, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693742, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 930, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 930, "end_frame": 1023, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1023, "end_frame": 1223, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693757, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 341, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 1207, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1207, "end_frame": 1289, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1289, "end_frame": 1508, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693767, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 362, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 362, "end_frame": 896, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 896, "end_frame": 965, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 965, "end_frame": 1197, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693793, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 927, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 927, "end_frame": 1018, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1018, "end_frame": 1263, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693804, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 1005, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1005, "end_frame": 1096, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1096, "end_frame": 1355, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693827, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 330, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 1061, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1061, "end_frame": 1146, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1146, "end_frame": 1375, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693879, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 774, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 774, "end_frame": 885, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 885, "end_frame": 1100, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693891, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 778, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 778, "end_frame": 863, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 863, "end_frame": 1136, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693924, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 810, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 810, "end_frame": 900, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 900, "end_frame": 1102, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693942, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 744, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 744, "end_frame": 858, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 858, "end_frame": 1066, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693955, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 616, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 616, "end_frame": 719, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 719, "end_frame": 884, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693972, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 784, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 784, "end_frame": 881, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 881, "end_frame": 1051, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693983, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 753, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 753, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 1001, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693994, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 220, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 697, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 697, "end_frame": 758, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 758, "end_frame": 921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694003, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 653, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 653, "end_frame": 732, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 732, "end_frame": 875, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694033, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 3, "end_frame": 259, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 680, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 680, "end_frame": 797, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 797, "end_frame": 960, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694351, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 708, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 708, "end_frame": 785, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 785, "end_frame": 963, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694394, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 658, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 658, "end_frame": 718, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 718, "end_frame": 904, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694413, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 608, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 608, "end_frame": 713, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 713, "end_frame": 862, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694423, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 601, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 601, "end_frame": 677, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 677, "end_frame": 833, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694436, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 698, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 698, "end_frame": 780, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 780, "end_frame": 922, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694448, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 604, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 604, "end_frame": 672, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 672, "end_frame": 826, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694457, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 233, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 584, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 584, "end_frame": 677, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 677, "end_frame": 816, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694467, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 628, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 628, "end_frame": 703, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 703, "end_frame": 876, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694478, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 630, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 630, "end_frame": 713, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 713, "end_frame": 851, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694485, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 224, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 224, "end_frame": 513, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 513, "end_frame": 599, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 599, "end_frame": 735, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694493, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 264, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 685, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 685, "end_frame": 758, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 758, "end_frame": 909, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694502, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 779, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 779, "end_frame": 854, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 854, "end_frame": 1019, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694513, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 270, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 614, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 614, "end_frame": 693, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 693, "end_frame": 845, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694522, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 702, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 702, "end_frame": 779, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 779, "end_frame": 929, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694533, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 6, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 561, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 561, "end_frame": 635, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 635, "end_frame": 802, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694545, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 3, "end_frame": 210, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 210, "end_frame": 614, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 614, "end_frame": 691, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 691, "end_frame": 867, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694566, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 260, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 638, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 638, "end_frame": 706, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 706, "end_frame": 837, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694575, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 274, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 678, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 678, "end_frame": 771, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 771, "end_frame": 941, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694588, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 680, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 680, "end_frame": 755, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 755, "end_frame": 905, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694611, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 266, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 612, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 612, "end_frame": 684, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 684, "end_frame": 839, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694621, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 6, "end_frame": 288, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 738, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 738, "end_frame": 845, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 845, "end_frame": 1006, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694632, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 349, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 754, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 754, "end_frame": 868, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 868, "end_frame": 1016, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694647, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 287, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 683, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 683, "end_frame": 788, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 788, "end_frame": 1050, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694663, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 691, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 691, "end_frame": 794, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 794, "end_frame": 941, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694678, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 708, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 708, "end_frame": 804, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 804, "end_frame": 948, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694693, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 848, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 848, "end_frame": 953, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1132, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694729, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 661, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 661, "end_frame": 743, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 743, "end_frame": 896, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694738, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 640, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 640, "end_frame": 717, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 717, "end_frame": 838, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694750, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 627, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 627, "end_frame": 725, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 725, "end_frame": 921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694766, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 318, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 798, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 798, "end_frame": 885, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 885, "end_frame": 1041, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694780, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 274, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 708, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 708, "end_frame": 792, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 792, "end_frame": 932, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694792, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 341, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 720, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 720, "end_frame": 789, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 789, "end_frame": 961, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694805, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 719, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 719, "end_frame": 814, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 814, "end_frame": 957, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694821, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 262, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 674, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 674, "end_frame": 754, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 754, "end_frame": 1034, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694836, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 246, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 626, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 626, "end_frame": 709, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 709, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694846, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 692, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 692, "end_frame": 777, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 777, "end_frame": 942, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694861, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 288, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 726, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 726, "end_frame": 817, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 817, "end_frame": 1034, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694875, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 295, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 762, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 762, "end_frame": 879, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 879, "end_frame": 1072, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694886, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 264, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 632, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 632, "end_frame": 706, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 706, "end_frame": 861, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694903, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 637, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 637, "end_frame": 716, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 716, "end_frame": 885, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694917, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 691, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 691, "end_frame": 757, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 757, "end_frame": 937, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694929, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 268, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 846, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 846, "end_frame": 926, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 926, "end_frame": 1126, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694943, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 289, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 712, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 712, "end_frame": 800, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 800, "end_frame": 947, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694955, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 690, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 690, "end_frame": 753, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 753, "end_frame": 919, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694965, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 697, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 697, "end_frame": 794, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 794, "end_frame": 1013, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694979, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 285, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 717, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 717, "end_frame": 793, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 793, "end_frame": 964, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694992, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 262, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 677, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 677, "end_frame": 775, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 775, "end_frame": 1013, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681140, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 363, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 2124, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 2124, "end_frame": 2246, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 2246, "end_frame": 2490, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681158, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 326, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 1093, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1093, "end_frame": 1246, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1246, "end_frame": 1576, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681173, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 484, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 484, "end_frame": 2264, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 2264, "end_frame": 2419, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 2419, "end_frame": 2769, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681187, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 348, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 981, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 981, "end_frame": 1089, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1089, "end_frame": 1396, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681226, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 344, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 344, "end_frame": 829, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 829, "end_frame": 955, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 955, "end_frame": 1301, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681353, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 355, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 1110, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1110, "end_frame": 1252, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1252, "end_frame": 1469, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681375, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 991, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 991, "end_frame": 1125, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1125, "end_frame": 1376, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681395, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 328, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 1254, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1254, "end_frame": 1413, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1413, "end_frame": 1672, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681438, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 345, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 806, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 806, "end_frame": 994, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 994, "end_frame": 1263, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681456, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 939, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 939, "end_frame": 1103, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1103, "end_frame": 1300, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681471, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 376, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 946, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 946, "end_frame": 1129, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1129, "end_frame": 1450, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681489, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 819, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 819, "end_frame": 1016, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1016, "end_frame": 1308, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681513, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 285, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 1043, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1043, "end_frame": 1195, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1195, "end_frame": 1434, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681544, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 1160, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1160, "end_frame": 1288, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1288, "end_frame": 1650, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681577, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 342, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 1677, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1677, "end_frame": 1816, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1816, "end_frame": 2024, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681592, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 1556, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1556, "end_frame": 1721, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1721, "end_frame": 1968, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681633, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 1134, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1134, "end_frame": 1342, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1342, "end_frame": 1717, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681650, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 1224, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1224, "end_frame": 1399, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1399, "end_frame": 1596, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681695, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 1413, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1413, "end_frame": 1541, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1541, "end_frame": 1758, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681714, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 1349, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1349, "end_frame": 1527, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1527, "end_frame": 1725, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681732, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 329, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 1185, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1185, "end_frame": 1338, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1338, "end_frame": 1507, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681765, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 1075, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1075, "end_frame": 1268, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1268, "end_frame": 1542, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681857, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 820, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 820, "end_frame": 962, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1170, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681874, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 1117, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1117, "end_frame": 1248, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1248, "end_frame": 1537, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681895, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 348, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 963, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 963, "end_frame": 1093, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1093, "end_frame": 1319, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681920, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 346, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 1088, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1088, "end_frame": 1226, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1226, "end_frame": 1451, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681953, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 329, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 1298, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1298, "end_frame": 1475, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1475, "end_frame": 1926, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 681986, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 466, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 466, "end_frame": 1175, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1175, "end_frame": 1301, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1301, "end_frame": 1541, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682005, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 967, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 967, "end_frame": 1187, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1187, "end_frame": 1444, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682048, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 379, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 1274, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1274, "end_frame": 1449, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1449, "end_frame": 1824, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682070, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 1611, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1611, "end_frame": 1767, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1767, "end_frame": 1969, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682089, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 370, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 370, "end_frame": 1181, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1181, "end_frame": 1392, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1392, "end_frame": 1668, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682111, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 313, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 916, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 916, "end_frame": 1198, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1198, "end_frame": 1487, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682136, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 357, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 795, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 795, "end_frame": 989, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 989, "end_frame": 1185, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682164, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 925, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 925, "end_frame": 1117, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1117, "end_frame": 1296, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682225, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 373, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 373, "end_frame": 1307, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1307, "end_frame": 1511, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1511, "end_frame": 1754, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682250, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 1139, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1139, "end_frame": 1245, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1245, "end_frame": 1486, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682274, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 1133, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1133, "end_frame": 1326, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1326, "end_frame": 1535, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682297, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 1850, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1850, "end_frame": 2053, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 2053, "end_frame": 2241, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682348, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 1029, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1029, "end_frame": 1146, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1146, "end_frame": 1370, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682382, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 293, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 1094, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1094, "end_frame": 1290, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1290, "end_frame": 1539, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682402, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 1454, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1454, "end_frame": 1624, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1624, "end_frame": 1856, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682422, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 348, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 1060, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1060, "end_frame": 1233, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1233, "end_frame": 1461, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682434, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 347, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 1058, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1058, "end_frame": 1263, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1263, "end_frame": 1469, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682454, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 340, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 340, "end_frame": 1273, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1273, "end_frame": 1568, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1568, "end_frame": 1787, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682466, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 303, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 1318, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1318, "end_frame": 1473, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1473, "end_frame": 1691, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682485, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 1139, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1139, "end_frame": 1309, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1309, "end_frame": 1527, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682516, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 1383, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1383, "end_frame": 1599, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1599, "end_frame": 1832, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682530, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 349, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 1044, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1044, "end_frame": 1184, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1184, "end_frame": 1424, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682550, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 905, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 905, "end_frame": 1058, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1058, "end_frame": 1317, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682562, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 952, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 952, "end_frame": 1091, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1091, "end_frame": 1271, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682575, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 254, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 1246, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1246, "end_frame": 1381, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1381, "end_frame": 1603, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682600, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 291, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 1055, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1055, "end_frame": 1201, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1201, "end_frame": 1433, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682724, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 271, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 1100, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1100, "end_frame": 1289, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1289, "end_frame": 1505, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682738, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 379, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 1013, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1013, "end_frame": 1136, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1136, "end_frame": 1364, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682757, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 994, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 994, "end_frame": 1090, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1090, "end_frame": 1313, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682791, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 34, "end_frame": 293, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 854, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 854, "end_frame": 1026, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1026, "end_frame": 1250, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682804, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 854, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 854, "end_frame": 999, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 999, "end_frame": 1204, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682822, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 932, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 932, "end_frame": 1109, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1109, "end_frame": 1332, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682844, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 1556, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1556, "end_frame": 1658, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1658, "end_frame": 1879, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682865, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 210, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 210, "end_frame": 956, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 956, "end_frame": 1124, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1124, "end_frame": 1325, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682883, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 946, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 946, "end_frame": 1119, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1119, "end_frame": 1339, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682903, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 335, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 981, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 981, "end_frame": 1194, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1194, "end_frame": 1408, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682921, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 952, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 952, "end_frame": 1089, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1089, "end_frame": 1359, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682952, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 345, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 1189, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1189, "end_frame": 1376, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1376, "end_frame": 1672, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682974, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 1248, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1248, "end_frame": 1436, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1436, "end_frame": 1661, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 682993, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 437, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 437, "end_frame": 1184, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1184, "end_frame": 1421, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1421, "end_frame": 1680, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683010, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 15, "end_frame": 317, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 813, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 813, "end_frame": 981, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1176, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683028, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 948, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 948, "end_frame": 1135, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1135, "end_frame": 1316, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683052, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 440, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 440, "end_frame": 1329, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1329, "end_frame": 1512, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1512, "end_frame": 1876, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683074, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 323, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 913, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 913, "end_frame": 1121, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1121, "end_frame": 1395, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683094, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 429, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 429, "end_frame": 1260, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1260, "end_frame": 1495, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1495, "end_frame": 1739, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683113, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 1002, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1002, "end_frame": 1196, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1196, "end_frame": 1483, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683129, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 470, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 470, "end_frame": 1177, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1177, "end_frame": 1370, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1370, "end_frame": 1593, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683149, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 399, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 1262, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1262, "end_frame": 1463, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1463, "end_frame": 1690, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683170, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 477, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 477, "end_frame": 1396, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1396, "end_frame": 1694, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1694, "end_frame": 1954, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683202, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 824, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 824, "end_frame": 1006, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1006, "end_frame": 1243, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683257, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 1108, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1108, "end_frame": 1328, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1328, "end_frame": 1504, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683280, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 395, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 906, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 906, "end_frame": 1157, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1157, "end_frame": 1390, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683294, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 358, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 929, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 929, "end_frame": 1131, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1131, "end_frame": 1335, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683314, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 341, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 1095, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1095, "end_frame": 1280, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1280, "end_frame": 1468, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683401, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 435, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 435, "end_frame": 1406, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1406, "end_frame": 1510, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1510, "end_frame": 1695, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683427, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 1084, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1084, "end_frame": 1334, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1334, "end_frame": 1515, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683504, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 854, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 854, "end_frame": 1117, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1117, "end_frame": 1374, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683518, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 293, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 1049, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1049, "end_frame": 1323, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1323, "end_frame": 1516, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683551, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 328, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 1122, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1122, "end_frame": 1432, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1432, "end_frame": 1696, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683589, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 966, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 966, "end_frame": 1197, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1197, "end_frame": 1423, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683611, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 326, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 1102, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1102, "end_frame": 1356, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1356, "end_frame": 1605, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683627, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 935, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 935, "end_frame": 1104, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1104, "end_frame": 1343, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 683671, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 823, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 823, "end_frame": 1029, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1029, "end_frame": 1249, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687030, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 1050, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1050, "end_frame": 1212, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1212, "end_frame": 1399, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687040, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 9, "end_frame": 246, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 788, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 788, "end_frame": 1070, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1070, "end_frame": 1264, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687053, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 786, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 786, "end_frame": 1034, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1034, "end_frame": 1229, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687060, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 17, "end_frame": 260, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 945, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 945, "end_frame": 1123, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1123, "end_frame": 1330, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687160, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 1037, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1037, "end_frame": 1190, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1190, "end_frame": 1422, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 239, "end": 1037, "description": "" } ] } }, { "episode_id": 687171, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 224, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 224, "end_frame": 918, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 918, "end_frame": 1118, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1118, "end_frame": 1284, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687181, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 950, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 950, "end_frame": 1110, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1110, "end_frame": 1332, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687194, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 221, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 837, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 837, "end_frame": 967, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 967, "end_frame": 1181, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687200, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 221, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 819, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 819, "end_frame": 977, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 977, "end_frame": 1232, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687219, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 258, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 953, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 953, "end_frame": 1103, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1103, "end_frame": 1295, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 258, "end": 953, "description": "" } ] } }, { "episode_id": 687235, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 253, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 802, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 802, "end_frame": 936, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 936, "end_frame": 1154, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687250, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 777, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 777, "end_frame": 912, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 912, "end_frame": 1118, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687263, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 18, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 827, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 827, "end_frame": 973, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 973, "end_frame": 1183, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687470, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 641, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 641, "end_frame": 819, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 819, "end_frame": 1120, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687480, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 635, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 635, "end_frame": 782, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 782, "end_frame": 1092, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687495, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 657, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 657, "end_frame": 811, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 811, "end_frame": 1099, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687504, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 75, "end_frame": 328, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 692, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 692, "end_frame": 821, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 821, "end_frame": 1142, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687513, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 332, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 704, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 704, "end_frame": 867, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 867, "end_frame": 1166, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687524, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 107, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 777, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 777, "end_frame": 918, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 918, "end_frame": 1170, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687535, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 311, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 652, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 652, "end_frame": 824, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 824, "end_frame": 1097, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687546, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 608, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 608, "end_frame": 774, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 774, "end_frame": 1051, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687553, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 604, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 604, "end_frame": 749, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 749, "end_frame": 974, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687579, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 576, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 576, "end_frame": 689, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 689, "end_frame": 940, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687591, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 67, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 624, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 624, "end_frame": 733, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 733, "end_frame": 961, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687600, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 545, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 545, "end_frame": 682, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 682, "end_frame": 915, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687611, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 259, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 554, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 554, "end_frame": 700, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 700, "end_frame": 963, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687623, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 338, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 578, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 578, "end_frame": 703, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 703, "end_frame": 938, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687630, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 657, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 657, "end_frame": 762, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 762, "end_frame": 1013, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687639, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 640, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 640, "end_frame": 789, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 789, "end_frame": 1103, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687648, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 285, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 665, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 665, "end_frame": 837, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 837, "end_frame": 1072, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687656, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 312, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 312, "end_frame": 694, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 694, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 1092, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687688, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 431, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 431, "end_frame": 743, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 743, "end_frame": 888, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 888, "end_frame": 1217, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687699, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 335, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 633, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 633, "end_frame": 766, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 766, "end_frame": 1138, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687708, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 365, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 780, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 780, "end_frame": 992, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1305, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687717, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 350, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 796, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 796, "end_frame": 957, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 957, "end_frame": 1302, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687720, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 341, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 730, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 730, "end_frame": 902, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 902, "end_frame": 1201, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687774, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 417, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 417, "end_frame": 855, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 855, "end_frame": 992, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 992, "end_frame": 1303, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687785, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 82, "end_frame": 392, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 392, "end_frame": 831, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 831, "end_frame": 954, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 954, "end_frame": 1228, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687796, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 399, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 775, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 775, "end_frame": 939, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 939, "end_frame": 1267, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687807, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 85, "end_frame": 407, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 407, "end_frame": 779, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 779, "end_frame": 953, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1311, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687818, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 400, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 400, "end_frame": 785, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 785, "end_frame": 958, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 958, "end_frame": 1251, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687827, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 357, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 822, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 822, "end_frame": 968, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 968, "end_frame": 1209, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687838, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 335, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 688, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 688, "end_frame": 827, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 827, "end_frame": 1092, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687843, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 360, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 360, "end_frame": 753, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 753, "end_frame": 890, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 890, "end_frame": 1168, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687856, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 756, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 756, "end_frame": 949, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1254, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687879, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 80, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 685, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 685, "end_frame": 820, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 820, "end_frame": 1121, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687891, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 293, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 628, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 628, "end_frame": 789, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 789, "end_frame": 1050, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687900, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 678, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 678, "end_frame": 813, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 813, "end_frame": 1060, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687912, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 316, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 698, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 698, "end_frame": 841, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 841, "end_frame": 1121, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687921, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 323, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 633, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 633, "end_frame": 786, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 786, "end_frame": 1061, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687947, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 684, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 684, "end_frame": 834, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 834, "end_frame": 1090, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687960, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 271, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 643, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 643, "end_frame": 820, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 820, "end_frame": 1031, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687971, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 88, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 688, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 688, "end_frame": 849, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 849, "end_frame": 1056, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687982, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 282, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 632, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 632, "end_frame": 809, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 809, "end_frame": 1088, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687993, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 72, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 822, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 822, "end_frame": 976, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 976, "end_frame": 1183, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688029, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 369, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 369, "end_frame": 712, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 712, "end_frame": 890, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 890, "end_frame": 1131, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688040, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 80, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 599, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 599, "end_frame": 737, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 737, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688048, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 664, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 664, "end_frame": 835, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 835, "end_frame": 1116, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688056, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 75, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 637, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 637, "end_frame": 817, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 817, "end_frame": 992, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688065, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 109, "end_frame": 359, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 786, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 786, "end_frame": 939, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 939, "end_frame": 1171, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688072, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 650, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 650, "end_frame": 811, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 811, "end_frame": 1032, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688087, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 81, "end_frame": 397, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 772, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 772, "end_frame": 916, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 916, "end_frame": 1256, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688095, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 340, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 340, "end_frame": 700, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 700, "end_frame": 875, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 875, "end_frame": 1129, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688106, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 733, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 733, "end_frame": 924, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 924, "end_frame": 1170, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688117, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 655, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 655, "end_frame": 828, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 828, "end_frame": 1144, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688120, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 311, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 609, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 609, "end_frame": 749, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 749, "end_frame": 970, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688135, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 317, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 656, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 656, "end_frame": 794, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 794, "end_frame": 1082, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688147, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 315, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 618, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 618, "end_frame": 789, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 789, "end_frame": 1049, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688172, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 85, "end_frame": 369, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 369, "end_frame": 680, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 680, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 1107, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688182, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 67, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 661, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 661, "end_frame": 830, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 830, "end_frame": 1085, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688201, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 736, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 736, "end_frame": 889, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 889, "end_frame": 1188, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688217, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 423, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 771, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 771, "end_frame": 945, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 945, "end_frame": 1280, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688228, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 356, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 723, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 723, "end_frame": 894, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 894, "end_frame": 1138, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688245, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 343, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 675, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 675, "end_frame": 874, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 874, "end_frame": 1127, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688260, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 416, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 736, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 736, "end_frame": 914, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 914, "end_frame": 1152, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688269, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 385, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 385, "end_frame": 682, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 682, "end_frame": 849, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 849, "end_frame": 1056, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688279, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 356, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 640, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 640, "end_frame": 809, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 809, "end_frame": 1051, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688290, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 209, "end_frame": 453, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 453, "end_frame": 869, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 869, "end_frame": 1071, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1071, "end_frame": 1337, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688302, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 328, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 645, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 645, "end_frame": 785, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 785, "end_frame": 1055, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688313, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 628, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 628, "end_frame": 797, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 797, "end_frame": 994, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688325, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 616, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 616, "end_frame": 756, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 756, "end_frame": 1020, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688334, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 667, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 667, "end_frame": 826, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 826, "end_frame": 1063, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688346, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 629, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 629, "end_frame": 785, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 785, "end_frame": 1013, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688358, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 587, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 587, "end_frame": 762, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 762, "end_frame": 977, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688368, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 582, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 582, "end_frame": 744, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 744, "end_frame": 957, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688376, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 571, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 571, "end_frame": 712, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 712, "end_frame": 943, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688381, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 588, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 588, "end_frame": 743, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 743, "end_frame": 952, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688390, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 83, "end_frame": 361, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 621, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 621, "end_frame": 750, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 750, "end_frame": 974, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688400, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 325, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 622, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 622, "end_frame": 759, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 759, "end_frame": 1007, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688408, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 81, "end_frame": 348, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 662, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 662, "end_frame": 815, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 815, "end_frame": 1026, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688425, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 72, "end_frame": 345, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 694, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 694, "end_frame": 869, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 869, "end_frame": 1073, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688439, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 785, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 785, "end_frame": 953, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1138, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688447, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 530, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 530, "end_frame": 678, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 678, "end_frame": 865, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688460, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 88, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 564, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 564, "end_frame": 731, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 731, "end_frame": 952, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688477, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 273, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 590, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 590, "end_frame": 740, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 740, "end_frame": 945, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688487, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 550, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 550, "end_frame": 700, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 700, "end_frame": 872, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688496, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 588, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 588, "end_frame": 729, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 729, "end_frame": 954, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688505, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 289, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 289, "end_frame": 584, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 584, "end_frame": 765, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 765, "end_frame": 985, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688516, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 703, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 703, "end_frame": 894, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 894, "end_frame": 1132, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688527, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 557, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 557, "end_frame": 701, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 701, "end_frame": 899, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688540, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 672, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 672, "end_frame": 839, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 839, "end_frame": 1032, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688548, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 279, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 279, "end_frame": 629, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 629, "end_frame": 793, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 793, "end_frame": 988, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688556, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 586, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 586, "end_frame": 729, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 729, "end_frame": 896, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688563, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 687, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 687, "end_frame": 825, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 825, "end_frame": 1003, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688574, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 39, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 702, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 702, "end_frame": 847, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 847, "end_frame": 1070, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688581, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 600, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 600, "end_frame": 740, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 740, "end_frame": 958, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688592, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 20, "end_frame": 252, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 608, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 608, "end_frame": 745, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 745, "end_frame": 926, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688601, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 513, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 513, "end_frame": 668, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 668, "end_frame": 921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688612, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 701, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 701, "end_frame": 852, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 852, "end_frame": 1077, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688650, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 295, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 649, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 649, "end_frame": 830, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 830, "end_frame": 1032, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688662, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 550, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 550, "end_frame": 679, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 679, "end_frame": 864, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688673, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 303, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 652, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 652, "end_frame": 796, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 796, "end_frame": 991, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688686, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 288, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 614, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 614, "end_frame": 761, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 761, "end_frame": 949, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688698, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 285, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 603, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 603, "end_frame": 754, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 754, "end_frame": 942, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688710, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 266, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 587, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 587, "end_frame": 728, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 728, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688723, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 571, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 571, "end_frame": 714, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 714, "end_frame": 915, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688737, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 558, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 558, "end_frame": 695, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 695, "end_frame": 871, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688749, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 589, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 589, "end_frame": 721, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 721, "end_frame": 938, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688761, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 322, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 681, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 681, "end_frame": 833, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 833, "end_frame": 1027, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688771, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 292, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 292, "end_frame": 823, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 823, "end_frame": 962, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 962, "end_frame": 1200, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688781, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 328, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 768, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 768, "end_frame": 904, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 904, "end_frame": 1103, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688792, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 590, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 590, "end_frame": 734, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 734, "end_frame": 875, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688804, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 84, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 586, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 586, "end_frame": 723, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 723, "end_frame": 877, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688814, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 67, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 634, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 634, "end_frame": 771, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 771, "end_frame": 931, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688823, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 285, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 285, "end_frame": 634, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 634, "end_frame": 771, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 771, "end_frame": 997, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688837, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 588, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 588, "end_frame": 726, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 726, "end_frame": 887, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688844, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 598, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 598, "end_frame": 760, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 760, "end_frame": 968, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688856, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 264, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 568, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 568, "end_frame": 692, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 692, "end_frame": 860, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688865, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 674, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 674, "end_frame": 803, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 803, "end_frame": 973, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688891, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 539, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 539, "end_frame": 656, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 656, "end_frame": 862, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688899, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 270, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 553, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 553, "end_frame": 691, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 691, "end_frame": 968, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688912, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 541, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 541, "end_frame": 665, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 665, "end_frame": 828, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688937, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 268, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 572, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 572, "end_frame": 730, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 730, "end_frame": 921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688949, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 662, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 662, "end_frame": 771, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 771, "end_frame": 918, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688959, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 97, "end_frame": 315, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 591, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 591, "end_frame": 710, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 710, "end_frame": 901, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688976, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 561, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 561, "end_frame": 704, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 704, "end_frame": 888, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688986, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 246, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 706, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 706, "end_frame": 834, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 834, "end_frame": 1017, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689001, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 591, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 591, "end_frame": 736, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 736, "end_frame": 950, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687560, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 498, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 498, "end_frame": 1371, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1371, "end_frame": 1480, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1480, "end_frame": 1747, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687589, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 393, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 1287, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1287, "end_frame": 1413, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1413, "end_frame": 1652, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687612, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 483, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 483, "end_frame": 1295, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1295, "end_frame": 1445, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1445, "end_frame": 1664, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687627, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 389, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 1099, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1099, "end_frame": 1294, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1294, "end_frame": 1459, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687659, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 389, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 1387, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1387, "end_frame": 1603, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1603, "end_frame": 1814, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687679, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 408, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 408, "end_frame": 1389, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1389, "end_frame": 1704, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1704, "end_frame": 1930, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687706, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 374, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 374, "end_frame": 2001, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 2001, "end_frame": 2149, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 2149, "end_frame": 2279, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687723, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 175, "end_frame": 519, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 519, "end_frame": 1724, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1724, "end_frame": 1986, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1986, "end_frame": 2174, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687737, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 367, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 1151, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1151, "end_frame": 1346, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1346, "end_frame": 1511, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687753, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 357, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 1699, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1699, "end_frame": 1830, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1830, "end_frame": 2028, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687772, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 467, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 467, "end_frame": 1695, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1695, "end_frame": 1796, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1796, "end_frame": 2006, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687792, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 465, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 465, "end_frame": 1398, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1398, "end_frame": 1572, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1572, "end_frame": 1776, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687832, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 267, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 1369, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1369, "end_frame": 1461, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1461, "end_frame": 1649, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687844, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 1088, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1088, "end_frame": 1258, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1258, "end_frame": 1411, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687860, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 265, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 265, "end_frame": 989, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 989, "end_frame": 1160, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1160, "end_frame": 1329, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687881, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 121, "end_frame": 356, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 1477, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1477, "end_frame": 1714, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1714, "end_frame": 1921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688028, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 1048, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1048, "end_frame": 1171, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1171, "end_frame": 1349, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688061, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 403, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 403, "end_frame": 1310, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1310, "end_frame": 1405, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1405, "end_frame": 1606, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689040, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 716, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 716, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 1070, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689091, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 349, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 349, "end_frame": 949, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 949, "end_frame": 1059, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1059, "end_frame": 1217, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689110, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 942, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 942, "end_frame": 971, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 971, "end_frame": 1125, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692188, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 1121, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1121, "end_frame": 1320, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1320, "end_frame": 1484, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692202, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 942, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 942, "end_frame": 1090, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1090, "end_frame": 1268, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692216, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 1084, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1084, "end_frame": 1157, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1157, "end_frame": 1286, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692242, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 85, "end_frame": 488, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 488, "end_frame": 1025, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1025, "end_frame": 1180, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1180, "end_frame": 1359, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692253, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 381, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 1243, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1243, "end_frame": 1350, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1350, "end_frame": 1512, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692278, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 934, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 934, "end_frame": 1060, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1060, "end_frame": 1218, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692300, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 1030, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1030, "end_frame": 1104, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1104, "end_frame": 1292, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692310, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 945, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 945, "end_frame": 1067, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1067, "end_frame": 1216, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692345, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 425, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 425, "end_frame": 1198, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1198, "end_frame": 1273, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1273, "end_frame": 1419, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692353, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 976, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 976, "end_frame": 1122, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1122, "end_frame": 1220, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692367, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 342, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 883, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 883, "end_frame": 991, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1112, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692379, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 386, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 1105, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1105, "end_frame": 1192, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1192, "end_frame": 1346, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692409, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 1005, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1005, "end_frame": 1095, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1095, "end_frame": 1237, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692423, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 1230, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1230, "end_frame": 1274, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1274, "end_frame": 1446, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692447, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 1113, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1113, "end_frame": 1230, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1230, "end_frame": 1372, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692459, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 1146, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1146, "end_frame": 1267, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1267, "end_frame": 1388, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692620, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 251, "end_frame": 554, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 554, "end_frame": 1335, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1335, "end_frame": 1402, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1402, "end_frame": 1540, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692630, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 92, "end_frame": 315, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 1348, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1348, "end_frame": 1512, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1512, "end_frame": 1615, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692646, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 1387, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1387, "end_frame": 1480, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1480, "end_frame": 1595, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692656, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 1046, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1046, "end_frame": 1152, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1280, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692678, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 83, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 983, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 983, "end_frame": 1104, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1104, "end_frame": 1229, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692696, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 358, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 1566, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1566, "end_frame": 1709, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1709, "end_frame": 1850, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692722, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 297, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 297, "end_frame": 919, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 919, "end_frame": 1009, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1009, "end_frame": 1119, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692730, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 246, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 246, "end_frame": 1035, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1035, "end_frame": 1097, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1097, "end_frame": 1285, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692740, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 935, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 935, "end_frame": 1081, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1081, "end_frame": 1239, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692775, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 377, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 969, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 969, "end_frame": 1050, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1050, "end_frame": 1178, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692791, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 735, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 735, "end_frame": 796, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 796, "end_frame": 946, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692796, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 816, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 816, "end_frame": 903, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1037, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692809, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 902, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 902, "end_frame": 1011, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1011, "end_frame": 1122, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687695, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 438, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 438, "end_frame": 999, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 999, "end_frame": 1141, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1141, "end_frame": 1521, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687722, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 466, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 466, "end_frame": 991, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 991, "end_frame": 1143, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1143, "end_frame": 1380, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 687738, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 355, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 1169, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1169, "end_frame": 1288, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1288, "end_frame": 1449, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688321, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 350, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 968, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 968, "end_frame": 1156, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1156, "end_frame": 1322, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688454, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 33, "end_frame": 368, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 368, "end_frame": 1045, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1045, "end_frame": 1221, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1221, "end_frame": 1457, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688644, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 11, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 964, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 964, "end_frame": 1061, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1061, "end_frame": 1306, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688667, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 8, "end_frame": 287, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 1299, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1299, "end_frame": 1422, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1422, "end_frame": 1600, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688705, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 887, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 887, "end_frame": 1076, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1076, "end_frame": 1296, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688908, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 399, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 399, "end_frame": 1262, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1262, "end_frame": 1372, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1372, "end_frame": 1578, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688926, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 432, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 432, "end_frame": 827, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 827, "end_frame": 897, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 897, "end_frame": 1129, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688945, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 398, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 398, "end_frame": 1016, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1016, "end_frame": 1115, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1115, "end_frame": 1361, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688961, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 769, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 769, "end_frame": 876, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 876, "end_frame": 1120, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688974, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 852, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 852, "end_frame": 970, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 970, "end_frame": 1194, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688989, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 339, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 339, "end_frame": 1224, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1224, "end_frame": 1369, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1369, "end_frame": 1609, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689006, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 1134, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1134, "end_frame": 1266, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1266, "end_frame": 1503, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689017, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 329, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 973, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 973, "end_frame": 1106, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1106, "end_frame": 1317, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689031, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 12, "end_frame": 355, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 1063, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1063, "end_frame": 1157, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1157, "end_frame": 1368, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689045, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 2, "end_frame": 346, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 942, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 942, "end_frame": 1054, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1054, "end_frame": 1282, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689082, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 382, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 382, "end_frame": 1835, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1835, "end_frame": 1943, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1943, "end_frame": 2096, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689099, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 22, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 965, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 965, "end_frame": 1065, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1065, "end_frame": 1279, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689116, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 293, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 1060, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1060, "end_frame": 1152, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1390, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689134, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 5, "end_frame": 252, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 581, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 581, "end_frame": 712, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 712, "end_frame": 925, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689152, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 291, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 811, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 811, "end_frame": 936, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 936, "end_frame": 1145, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693515, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 404, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 404, "end_frame": 1840, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1840, "end_frame": 1966, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1966, "end_frame": 2201, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693568, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 383, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 1780, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1780, "end_frame": 1941, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1941, "end_frame": 2522, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693609, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 506, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 506, "end_frame": 1565, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1565, "end_frame": 1662, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1662, "end_frame": 1926, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 506, "end": 1565, "description": "" } ] } }, { "episode_id": 693626, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 345, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 1248, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1248, "end_frame": 1335, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1335, "end_frame": 1598, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693645, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 373, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 373, "end_frame": 904, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 904, "end_frame": 1018, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1018, "end_frame": 1231, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693668, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 88, "end_frame": 426, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 426, "end_frame": 994, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 994, "end_frame": 1084, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1084, "end_frame": 1536, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693751, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 416, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 416, "end_frame": 848, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 848, "end_frame": 985, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 985, "end_frame": 1253, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693780, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 83, "end_frame": 423, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 423, "end_frame": 927, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 927, "end_frame": 1022, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1022, "end_frame": 1278, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693797, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 80, "end_frame": 484, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 484, "end_frame": 1039, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1039, "end_frame": 1125, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1125, "end_frame": 1367, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693822, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 428, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 428, "end_frame": 951, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 951, "end_frame": 1040, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1040, "end_frame": 1285, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693848, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 371, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 842, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 842, "end_frame": 952, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 952, "end_frame": 1185, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693865, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 383, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 870, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 870, "end_frame": 981, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1201, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693881, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 916, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 916, "end_frame": 1030, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1030, "end_frame": 1283, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693897, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 405, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 405, "end_frame": 898, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 898, "end_frame": 979, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 979, "end_frame": 1160, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693912, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 393, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 831, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 831, "end_frame": 924, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 924, "end_frame": 1128, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693929, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 357, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 959, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 959, "end_frame": 1113, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1113, "end_frame": 1288, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693957, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 777, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 777, "end_frame": 907, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1183, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693974, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 383, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 1179, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1179, "end_frame": 1256, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1256, "end_frame": 1457, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693988, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 381, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 1044, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1044, "end_frame": 1131, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1131, "end_frame": 1317, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694004, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 350, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 957, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 957, "end_frame": 1044, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1044, "end_frame": 1282, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694021, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 348, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 842, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 842, "end_frame": 919, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 919, "end_frame": 1097, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694090, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 933, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 933, "end_frame": 1017, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1017, "end_frame": 1238, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694102, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 332, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 865, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 865, "end_frame": 981, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1191, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694122, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 356, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 356, "end_frame": 1098, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1098, "end_frame": 1206, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1206, "end_frame": 1376, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694141, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 357, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 1034, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1034, "end_frame": 1136, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1136, "end_frame": 1358, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694171, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 793, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 793, "end_frame": 903, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1095, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694189, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 787, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 787, "end_frame": 902, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 902, "end_frame": 1090, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694219, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 409, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 409, "end_frame": 1000, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1000, "end_frame": 1104, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1104, "end_frame": 1355, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694234, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 367, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 367, "end_frame": 883, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 883, "end_frame": 968, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 968, "end_frame": 1190, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694250, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 1092, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1092, "end_frame": 1190, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1190, "end_frame": 1409, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694270, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 392, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 392, "end_frame": 895, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 895, "end_frame": 1000, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1000, "end_frame": 1150, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694295, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 778, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 778, "end_frame": 876, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 876, "end_frame": 1076, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694311, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 350, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 1006, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1006, "end_frame": 1098, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1098, "end_frame": 1272, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694327, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 438, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 438, "end_frame": 951, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 951, "end_frame": 1040, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1040, "end_frame": 1245, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694360, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 1181, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1181, "end_frame": 1269, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1269, "end_frame": 1474, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694425, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 60, "end_frame": 378, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 1049, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1049, "end_frame": 1159, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1159, "end_frame": 1311, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694476, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 323, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 1556, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1556, "end_frame": 1675, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1675, "end_frame": 1803, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694495, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 375, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 1461, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1461, "end_frame": 1587, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1587, "end_frame": 1819, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694510, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 316, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 1004, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1004, "end_frame": 1088, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1088, "end_frame": 1253, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694531, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 1092, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1092, "end_frame": 1201, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1201, "end_frame": 1413, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694636, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 1770, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1770, "end_frame": 1846, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1846, "end_frame": 2012, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694667, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 69, "end_frame": 460, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 460, "end_frame": 1465, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1465, "end_frame": 1571, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1571, "end_frame": 1943, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688951, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 802, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 802, "end_frame": 922, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 922, "end_frame": 1141, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688968, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 766, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 766, "end_frame": 882, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 882, "end_frame": 1084, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 688981, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 924, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 924, "end_frame": 1056, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1056, "end_frame": 1260, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689012, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 725, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 725, "end_frame": 844, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 844, "end_frame": 1044, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689037, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 7, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 935, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 935, "end_frame": 1077, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1077, "end_frame": 1248, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689151, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 742, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 742, "end_frame": 852, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 852, "end_frame": 1082, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689169, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 287, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 287, "end_frame": 793, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 793, "end_frame": 888, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 888, "end_frame": 1061, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689258, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 268, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 798, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 798, "end_frame": 903, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1090, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689284, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 906, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 906, "end_frame": 981, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1134, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689303, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 852, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 852, "end_frame": 913, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 913, "end_frame": 1067, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689313, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 965, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 965, "end_frame": 1031, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1031, "end_frame": 1238, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689326, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 863, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 863, "end_frame": 932, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 932, "end_frame": 1080, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689359, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 921, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 921, "end_frame": 997, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 997, "end_frame": 1186, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689391, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 215, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 215, "end_frame": 790, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 790, "end_frame": 882, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 882, "end_frame": 1062, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689404, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 815, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 815, "end_frame": 853, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 853, "end_frame": 1041, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689415, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 222, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 222, "end_frame": 749, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 749, "end_frame": 844, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 844, "end_frame": 1032, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689443, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 783, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 783, "end_frame": 825, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 825, "end_frame": 990, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689453, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 221, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 221, "end_frame": 805, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 805, "end_frame": 885, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 885, "end_frame": 1065, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689465, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 803, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 803, "end_frame": 890, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 890, "end_frame": 1135, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692131, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 748, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 748, "end_frame": 807, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 807, "end_frame": 955, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692141, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 759, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 759, "end_frame": 844, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 844, "end_frame": 1034, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692145, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 767, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 767, "end_frame": 840, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 840, "end_frame": 1005, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692170, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 710, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 710, "end_frame": 834, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 834, "end_frame": 976, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692177, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 206, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 652, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 652, "end_frame": 778, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 778, "end_frame": 961, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692184, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 209, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 729, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 729, "end_frame": 828, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 828, "end_frame": 985, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692201, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 534, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 534, "end_frame": 616, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 616, "end_frame": 784, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692211, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 784, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 784, "end_frame": 863, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 863, "end_frame": 1015, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692224, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 258, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 258, "end_frame": 656, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 656, "end_frame": 754, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 754, "end_frame": 957, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692235, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 774, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 774, "end_frame": 846, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 846, "end_frame": 1031, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692249, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 721, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 721, "end_frame": 855, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 855, "end_frame": 1067, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692256, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 658, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 658, "end_frame": 745, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 745, "end_frame": 924, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692265, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 253, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 647, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 647, "end_frame": 722, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 722, "end_frame": 947, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689016, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 260, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 547, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 547, "end_frame": 673, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 673, "end_frame": 774, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689026, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 264, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 264, "end_frame": 608, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 608, "end_frame": 721, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 721, "end_frame": 820, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689047, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 227, "end_frame": 519, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 519, "end_frame": 625, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 625, "end_frame": 770, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689057, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 554, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 554, "end_frame": 682, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 682, "end_frame": 868, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689070, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 604, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 604, "end_frame": 704, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 704, "end_frame": 878, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689083, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 601, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 601, "end_frame": 720, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 720, "end_frame": 930, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689108, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 526, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 526, "end_frame": 654, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 654, "end_frame": 781, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689125, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 578, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 578, "end_frame": 698, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 698, "end_frame": 877, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689131, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 498, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 498, "end_frame": 647, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 647, "end_frame": 847, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689145, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 250, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 250, "end_frame": 531, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 531, "end_frame": 643, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 643, "end_frame": 845, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689159, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 216, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 467, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 467, "end_frame": 592, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 592, "end_frame": 721, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689175, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 667, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 667, "end_frame": 814, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 814, "end_frame": 985, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689182, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 260, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 589, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 589, "end_frame": 725, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 725, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689199, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 601, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 601, "end_frame": 719, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 719, "end_frame": 874, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689211, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 530, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 530, "end_frame": 667, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 667, "end_frame": 867, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689224, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 223, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 223, "end_frame": 521, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 521, "end_frame": 648, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 648, "end_frame": 815, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689235, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 248, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 248, "end_frame": 599, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 599, "end_frame": 745, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 745, "end_frame": 938, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689240, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 544, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 544, "end_frame": 656, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 656, "end_frame": 833, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689260, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 610, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 610, "end_frame": 730, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 730, "end_frame": 908, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689273, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 596, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 596, "end_frame": 738, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 738, "end_frame": 982, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689282, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 587, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 587, "end_frame": 712, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 712, "end_frame": 936, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689295, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 550, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 550, "end_frame": 699, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 699, "end_frame": 868, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689304, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 703, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 703, "end_frame": 829, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 829, "end_frame": 1005, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689315, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 547, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 547, "end_frame": 703, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 703, "end_frame": 890, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689344, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 567, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 567, "end_frame": 706, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 706, "end_frame": 903, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689355, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 291, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 583, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 583, "end_frame": 731, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 731, "end_frame": 916, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689365, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 601, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 601, "end_frame": 730, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 730, "end_frame": 921, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689380, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 255, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 255, "end_frame": 524, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 524, "end_frame": 635, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 635, "end_frame": 843, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689396, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 515, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 515, "end_frame": 667, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 667, "end_frame": 861, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689406, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 626, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 626, "end_frame": 763, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 763, "end_frame": 951, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689417, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 645, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 645, "end_frame": 774, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 774, "end_frame": 973, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689424, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 635, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 635, "end_frame": 766, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 766, "end_frame": 1019, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689432, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 590, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 590, "end_frame": 696, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 696, "end_frame": 909, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689439, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 600, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 600, "end_frame": 724, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 724, "end_frame": 918, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689446, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 324, "end_frame": 594, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 594, "end_frame": 722, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 722, "end_frame": 945, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689454, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 555, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 555, "end_frame": 695, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 695, "end_frame": 924, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689461, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 560, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 560, "end_frame": 675, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 675, "end_frame": 918, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689471, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 556, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 556, "end_frame": 680, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 680, "end_frame": 859, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 689479, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 237, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 237, "end_frame": 537, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 537, "end_frame": 687, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 687, "end_frame": 891, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692130, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 347, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 633, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 633, "end_frame": 804, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 804, "end_frame": 1017, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692135, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 391, "end_frame": 828, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 828, "end_frame": 1025, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1025, "end_frame": 1272, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692140, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 332, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 747, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 747, "end_frame": 927, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1185, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692143, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 709, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 709, "end_frame": 896, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 896, "end_frame": 1166, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692148, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 348, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 348, "end_frame": 730, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 730, "end_frame": 878, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 878, "end_frame": 1094, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692152, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 366, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 761, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 761, "end_frame": 932, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 932, "end_frame": 1224, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692173, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 397, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 807, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 807, "end_frame": 1017, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1017, "end_frame": 1253, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692180, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 366, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 748, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 748, "end_frame": 917, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 917, "end_frame": 1177, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692192, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 403, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 403, "end_frame": 773, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 773, "end_frame": 964, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 964, "end_frame": 1169, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692209, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 350, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 350, "end_frame": 665, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 665, "end_frame": 831, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 831, "end_frame": 1084, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692215, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 354, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 354, "end_frame": 712, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 712, "end_frame": 889, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 889, "end_frame": 1126, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692222, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 311, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 643, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 643, "end_frame": 795, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 795, "end_frame": 992, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692230, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 381, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 381, "end_frame": 757, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 757, "end_frame": 927, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 927, "end_frame": 1186, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692236, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 355, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 711, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 711, "end_frame": 868, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 868, "end_frame": 1079, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692250, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 323, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 323, "end_frame": 677, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 677, "end_frame": 893, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 893, "end_frame": 1112, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692264, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 426, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 426, "end_frame": 903, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 903, "end_frame": 1111, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1111, "end_frame": 1368, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692273, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 357, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 724, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 724, "end_frame": 929, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 929, "end_frame": 1184, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692280, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 365, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 365, "end_frame": 689, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 689, "end_frame": 863, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 863, "end_frame": 1102, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692284, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 317, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 665, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 665, "end_frame": 835, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 835, "end_frame": 1064, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692294, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 663, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 663, "end_frame": 856, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 856, "end_frame": 1161, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692301, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 377, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 713, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 713, "end_frame": 899, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 899, "end_frame": 1117, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692306, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 634, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 634, "end_frame": 796, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 796, "end_frame": 1021, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692317, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 614, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 614, "end_frame": 781, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 781, "end_frame": 976, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692323, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 661, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 661, "end_frame": 821, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 821, "end_frame": 1028, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692331, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 545, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 545, "end_frame": 678, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 678, "end_frame": 897, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692899, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 14, "end_frame": 295, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 772, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 772, "end_frame": 950, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 950, "end_frame": 1130, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692923, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 808, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 808, "end_frame": 949, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 949, "end_frame": 1165, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 692983, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 902, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 902, "end_frame": 1066, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1066, "end_frame": 1261, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693089, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 793, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 793, "end_frame": 940, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 940, "end_frame": 1101, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693101, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 865, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 865, "end_frame": 1026, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1026, "end_frame": 1228, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693116, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 772, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 772, "end_frame": 910, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 910, "end_frame": 1113, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693129, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 964, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 964, "end_frame": 1164, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1164, "end_frame": 1400, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693139, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 262, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 262, "end_frame": 795, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 795, "end_frame": 961, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 961, "end_frame": 1159, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693146, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 797, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 797, "end_frame": 947, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 947, "end_frame": 1126, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693162, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 826, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 826, "end_frame": 989, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 989, "end_frame": 1222, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693174, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 236, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 236, "end_frame": 864, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 864, "end_frame": 1013, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1013, "end_frame": 1195, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 693186, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 946, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 946, "end_frame": 1087, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1087, "end_frame": 1284, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694363, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 798, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 798, "end_frame": 988, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 988, "end_frame": 1182, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694385, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 341, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 341, "end_frame": 924, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 924, "end_frame": 1062, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1062, "end_frame": 1220, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694404, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 1029, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1029, "end_frame": 1209, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1209, "end_frame": 1418, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694424, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 345, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 773, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 773, "end_frame": 929, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 929, "end_frame": 1118, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694442, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 736, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 736, "end_frame": 859, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 859, "end_frame": 1041, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694461, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 252, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 252, "end_frame": 938, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 938, "end_frame": 1050, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1050, "end_frame": 1198, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694477, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 276, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 276, "end_frame": 976, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 976, "end_frame": 1111, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1111, "end_frame": 1266, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694507, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 721, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 721, "end_frame": 869, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 869, "end_frame": 1015, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694521, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 259, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 720, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 720, "end_frame": 835, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 835, "end_frame": 960, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694530, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 269, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 269, "end_frame": 632, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 632, "end_frame": 737, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 737, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694543, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 661, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 661, "end_frame": 782, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 782, "end_frame": 932, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694580, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 244, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 244, "end_frame": 646, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 646, "end_frame": 770, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 770, "end_frame": 908, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694590, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 711, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 711, "end_frame": 807, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 807, "end_frame": 932, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694609, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 711, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 711, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 987, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694630, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 782, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 782, "end_frame": 920, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 920, "end_frame": 1077, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694649, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 685, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 685, "end_frame": 812, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 812, "end_frame": 987, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694677, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 230, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 230, "end_frame": 544, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 544, "end_frame": 689, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 689, "end_frame": 836, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694704, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 266, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 266, "end_frame": 686, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 686, "end_frame": 809, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 809, "end_frame": 936, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694724, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 209, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 659, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 659, "end_frame": 755, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 755, "end_frame": 891, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694758, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 768, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 768, "end_frame": 869, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 869, "end_frame": 1032, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694789, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 594, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 594, "end_frame": 809, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 809, "end_frame": 991, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694813, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 231, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 727, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 727, "end_frame": 844, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 844, "end_frame": 965, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694834, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 214, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 935, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 935, "end_frame": 1058, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1058, "end_frame": 1192, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 214, "end": 935, "description": "" } ] } }, { "episode_id": 694848, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 220, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 220, "end_frame": 682, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 682, "end_frame": 809, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 809, "end_frame": 990, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694877, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 619, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 619, "end_frame": 720, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 720, "end_frame": 885, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694914, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 194, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 194, "end_frame": 659, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 659, "end_frame": 831, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 831, "end_frame": 972, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694934, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 758, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 758, "end_frame": 869, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 869, "end_frame": 1004, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694952, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 785, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 785, "end_frame": 903, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 903, "end_frame": 1032, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694970, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 768, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 768, "end_frame": 880, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 880, "end_frame": 1009, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694987, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 259, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 751, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 751, "end_frame": 849, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 849, "end_frame": 1018, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695021, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 740, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 740, "end_frame": 857, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 857, "end_frame": 998, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695037, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 214, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 214, "end_frame": 839, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 839, "end_frame": 948, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 948, "end_frame": 1088, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695049, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 238, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 238, "end_frame": 690, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 690, "end_frame": 795, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 795, "end_frame": 923, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695065, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 854, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 854, "end_frame": 959, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 959, "end_frame": 1093, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695103, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 750, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 750, "end_frame": 837, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 837, "end_frame": 985, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695133, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 794, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 794, "end_frame": 887, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 887, "end_frame": 1066, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695151, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 338, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 919, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 919, "end_frame": 1030, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1030, "end_frame": 1156, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695170, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 790, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 790, "end_frame": 907, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 907, "end_frame": 1042, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695182, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 914, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 914, "end_frame": 1002, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1002, "end_frame": 1119, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695198, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 827, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 827, "end_frame": 941, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 941, "end_frame": 1069, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695229, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 668, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 668, "end_frame": 796, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 796, "end_frame": 933, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695246, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 256, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 256, "end_frame": 699, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 699, "end_frame": 791, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 791, "end_frame": 924, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695263, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 798, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 798, "end_frame": 889, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 889, "end_frame": 1017, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695295, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 251, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 251, "end_frame": 753, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 753, "end_frame": 851, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 851, "end_frame": 969, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702331, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 69, "end_frame": 376, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 376, "end_frame": 945, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 945, "end_frame": 1036, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1036, "end_frame": 1206, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702373, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 83, "end_frame": 462, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 462, "end_frame": 1186, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1186, "end_frame": 1296, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1296, "end_frame": 1549, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702427, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 72, "end_frame": 325, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 325, "end_frame": 783, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 783, "end_frame": 865, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 865, "end_frame": 1077, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702468, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 318, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 1070, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1070, "end_frame": 1168, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1168, "end_frame": 1427, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702510, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 73, "end_frame": 316, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 608, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 608, "end_frame": 712, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 712, "end_frame": 954, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702638, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 234, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 234, "end_frame": 830, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 830, "end_frame": 953, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 953, "end_frame": 1228, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702650, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 427, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 427, "end_frame": 715, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 715, "end_frame": 969, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 969, "end_frame": 1262, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702665, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 328, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 328, "end_frame": 651, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 651, "end_frame": 770, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 770, "end_frame": 1025, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702679, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 295, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 295, "end_frame": 638, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 638, "end_frame": 768, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 768, "end_frame": 1057, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702689, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 59, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 856, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 856, "end_frame": 958, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 958, "end_frame": 1199, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702703, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 43, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 762, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 762, "end_frame": 878, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 878, "end_frame": 1083, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702716, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 90, "end_frame": 303, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 1297, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1297, "end_frame": 1417, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1417, "end_frame": 1673, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702736, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 309, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 309, "end_frame": 849, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 849, "end_frame": 1009, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1009, "end_frame": 1230, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702759, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 843, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 843, "end_frame": 981, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 981, "end_frame": 1176, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702785, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 511, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 511, "end_frame": 1048, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1048, "end_frame": 1152, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1152, "end_frame": 1496, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702804, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 75, "end_frame": 346, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 830, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 830, "end_frame": 943, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 943, "end_frame": 1233, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702835, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 402, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 939, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 939, "end_frame": 1053, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1053, "end_frame": 1283, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702853, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 79, "end_frame": 442, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 442, "end_frame": 1070, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1070, "end_frame": 1192, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1192, "end_frame": 1439, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702872, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 268, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 268, "end_frame": 679, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 679, "end_frame": 802, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 802, "end_frame": 1168, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 702902, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 332, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 332, "end_frame": 742, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 742, "end_frame": 864, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 864, "end_frame": 1138, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703012, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 293, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 293, "end_frame": 766, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 766, "end_frame": 877, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 877, "end_frame": 1097, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703065, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 597, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 597, "end_frame": 696, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 696, "end_frame": 986, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703115, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 677, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 677, "end_frame": 807, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 807, "end_frame": 1085, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703139, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 340, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 340, "end_frame": 698, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 698, "end_frame": 806, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 806, "end_frame": 1169, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703154, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 72, "end_frame": 260, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 260, "end_frame": 639, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 639, "end_frame": 777, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 777, "end_frame": 1121, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703259, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 290, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 290, "end_frame": 718, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 718, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 1139, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703281, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 274, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 274, "end_frame": 683, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 683, "end_frame": 753, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 753, "end_frame": 1002, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703330, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 426, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 426, "end_frame": 1056, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1056, "end_frame": 1129, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1129, "end_frame": 1320, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703353, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 253, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 720, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 720, "end_frame": 828, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 828, "end_frame": 1096, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703411, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 249, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 249, "end_frame": 607, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 607, "end_frame": 791, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 791, "end_frame": 1103, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703426, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 232, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 232, "end_frame": 539, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 539, "end_frame": 660, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 660, "end_frame": 882, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703446, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 271, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 699, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 699, "end_frame": 806, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 806, "end_frame": 1108, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 703603, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 233, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 705, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 705, "end_frame": 889, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 889, "end_frame": 1166, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704014, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 241, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 241, "end_frame": 656, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 656, "end_frame": 799, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 799, "end_frame": 1123, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704092, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 692, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 692, "end_frame": 910, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 910, "end_frame": 1191, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704099, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 811, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 811, "end_frame": 980, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 980, "end_frame": 1218, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704129, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 624, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 624, "end_frame": 793, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 793, "end_frame": 1035, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704152, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 216, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 216, "end_frame": 538, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 538, "end_frame": 665, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 665, "end_frame": 907, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704171, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 23, "end_frame": 206, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 206, "end_frame": 627, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 627, "end_frame": 740, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 740, "end_frame": 976, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704191, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 209, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 583, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 583, "end_frame": 796, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 796, "end_frame": 1043, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704209, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 187, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 187, "end_frame": 526, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 526, "end_frame": 759, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 759, "end_frame": 949, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704225, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 29, "end_frame": 183, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 183, "end_frame": 554, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 554, "end_frame": 689, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 689, "end_frame": 896, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704244, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 28, "end_frame": 231, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 231, "end_frame": 598, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 598, "end_frame": 738, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 738, "end_frame": 912, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704282, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 30, "end_frame": 211, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 583, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 583, "end_frame": 691, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 691, "end_frame": 877, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704307, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 208, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 208, "end_frame": 615, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 615, "end_frame": 832, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 832, "end_frame": 1100, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704328, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 46, "end_frame": 243, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 243, "end_frame": 653, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 653, "end_frame": 831, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 831, "end_frame": 1054, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704354, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 208, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 208, "end_frame": 595, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 595, "end_frame": 733, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 733, "end_frame": 924, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704375, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 205, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 205, "end_frame": 660, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 660, "end_frame": 794, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 794, "end_frame": 1031, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704396, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 163, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 163, "end_frame": 600, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 600, "end_frame": 736, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 736, "end_frame": 935, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704412, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 38, "end_frame": 193, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 193, "end_frame": 611, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 611, "end_frame": 753, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 753, "end_frame": 946, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704459, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 44, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 793, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 793, "end_frame": 867, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 867, "end_frame": 1113, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704481, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 37, "end_frame": 226, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 608, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 608, "end_frame": 674, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 674, "end_frame": 996, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704512, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 213, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 213, "end_frame": 529, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 529, "end_frame": 653, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 653, "end_frame": 850, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704576, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 13, "end_frame": 210, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 210, "end_frame": 568, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 568, "end_frame": 677, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 677, "end_frame": 865, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704585, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 16, "end_frame": 176, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 176, "end_frame": 588, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 588, "end_frame": 661, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 661, "end_frame": 944, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704604, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 209, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 209, "end_frame": 634, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 634, "end_frame": 821, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 821, "end_frame": 998, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 704686, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 175, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 175, "end_frame": 478, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 478, "end_frame": 643, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 643, "end_frame": 822, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694926, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 304, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 304, "end_frame": 1509, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1509, "end_frame": 1631, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1631, "end_frame": 1848, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694959, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 25, "end_frame": 259, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 259, "end_frame": 1131, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1131, "end_frame": 1221, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1221, "end_frame": 1434, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 694973, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 316, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 872, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 872, "end_frame": 955, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 955, "end_frame": 1154, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695008, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 32, "end_frame": 342, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 992, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 992, "end_frame": 1115, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1115, "end_frame": 1332, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695024, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 54, "end_frame": 335, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 905, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 905, "end_frame": 1015, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1015, "end_frame": 1281, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695166, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 36, "end_frame": 386, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 1589, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1589, "end_frame": 1666, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1666, "end_frame": 1910, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695186, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 79, "end_frame": 317, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 317, "end_frame": 1200, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1200, "end_frame": 1327, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1327, "end_frame": 1512, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695201, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 82, "end_frame": 364, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 1276, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1276, "end_frame": 1361, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1361, "end_frame": 1631, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695221, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 535, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 535, "end_frame": 1407, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1407, "end_frame": 1512, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1512, "end_frame": 1742, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695241, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 63, "end_frame": 377, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 377, "end_frame": 1323, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1323, "end_frame": 1420, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1420, "end_frame": 1593, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695275, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 359, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 359, "end_frame": 911, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 911, "end_frame": 1001, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1001, "end_frame": 1269, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695301, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 949, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 949, "end_frame": 1040, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1040, "end_frame": 1268, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695318, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 85, "end_frame": 677, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 677, "end_frame": 1377, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1377, "end_frame": 1467, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1467, "end_frame": 1692, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695339, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 26, "end_frame": 603, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 603, "end_frame": 1260, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1260, "end_frame": 1350, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1350, "end_frame": 1557, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695359, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 322, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 322, "end_frame": 1106, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1106, "end_frame": 1214, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1214, "end_frame": 1405, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695374, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 21, "end_frame": 392, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 392, "end_frame": 1081, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1081, "end_frame": 1183, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1183, "end_frame": 1389, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695395, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 417, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 417, "end_frame": 1220, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1220, "end_frame": 1312, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1312, "end_frame": 1686, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695420, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 42, "end_frame": 352, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 352, "end_frame": 922, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 922, "end_frame": 1001, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1001, "end_frame": 1395, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695461, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 996, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 996, "end_frame": 1088, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1088, "end_frame": 1278, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695491, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 76, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 992, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 992, "end_frame": 1082, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1082, "end_frame": 1279, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 695516, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 339, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 339, "end_frame": 878, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 878, "end_frame": 946, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 946, "end_frame": 1116, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698012, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 45, "end_frame": 334, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 1012, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1012, "end_frame": 1084, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1084, "end_frame": 1277, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698015, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 729, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 729, "end_frame": 824, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 824, "end_frame": 1055, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698019, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 62, "end_frame": 307, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 741, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 741, "end_frame": 851, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 851, "end_frame": 1020, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698027, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 383, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 383, "end_frame": 785, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 785, "end_frame": 856, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 856, "end_frame": 1027, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698163, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 303, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 967, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 967, "end_frame": 1110, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1110, "end_frame": 1306, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698167, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 57, "end_frame": 371, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 898, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 898, "end_frame": 996, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 996, "end_frame": 1206, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698182, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 31, "end_frame": 419, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 419, "end_frame": 1415, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1415, "end_frame": 1523, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1523, "end_frame": 1774, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698208, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 81, "end_frame": 335, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 958, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 958, "end_frame": 1055, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1055, "end_frame": 1286, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698308, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 375, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 375, "end_frame": 1018, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1018, "end_frame": 1122, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1122, "end_frame": 1345, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698334, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 69, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 947, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 947, "end_frame": 1049, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1049, "end_frame": 1217, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698368, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 64, "end_frame": 361, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 361, "end_frame": 916, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 916, "end_frame": 1018, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1018, "end_frame": 1207, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698471, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 87, "end_frame": 379, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 379, "end_frame": 864, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 864, "end_frame": 1006, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1006, "end_frame": 1279, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [ { "start": 379, "end": 864, "description": "" } ] } }, { "episode_id": 698492, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 66, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 695, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 695, "end_frame": 773, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 773, "end_frame": 938, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698537, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 77, "end_frame": 432, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 432, "end_frame": 823, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 823, "end_frame": 928, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 928, "end_frame": 1073, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698552, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 61, "end_frame": 358, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 761, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 761, "end_frame": 904, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 904, "end_frame": 1169, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698562, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 81, "end_frame": 368, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 368, "end_frame": 801, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 801, "end_frame": 934, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 934, "end_frame": 1136, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698568, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 1188, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1188, "end_frame": 1295, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1295, "end_frame": 1469, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698594, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 65, "end_frame": 298, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 298, "end_frame": 670, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 670, "end_frame": 766, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 766, "end_frame": 943, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698643, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 114, "end_frame": 354, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 354, "end_frame": 734, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 734, "end_frame": 894, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 894, "end_frame": 1083, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698667, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 41, "end_frame": 387, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 387, "end_frame": 1187, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1187, "end_frame": 1281, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1281, "end_frame": 1442, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698678, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 871, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 871, "end_frame": 967, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 967, "end_frame": 1160, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698690, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 35, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 701, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 701, "end_frame": 763, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 763, "end_frame": 907, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698696, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 49, "end_frame": 354, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 354, "end_frame": 710, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 710, "end_frame": 818, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 818, "end_frame": 1108, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698700, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 310, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 310, "end_frame": 733, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 733, "end_frame": 828, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 828, "end_frame": 1037, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698745, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 851, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 851, "end_frame": 939, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 939, "end_frame": 1123, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698760, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 48, "end_frame": 321, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 321, "end_frame": 900, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 900, "end_frame": 955, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 955, "end_frame": 1065, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698796, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 451, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 451, "end_frame": 856, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 856, "end_frame": 1054, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1054, "end_frame": 1228, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698823, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 81, "end_frame": 422, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 422, "end_frame": 1299, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1299, "end_frame": 1391, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1391, "end_frame": 1543, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698836, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 275, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 275, "end_frame": 1101, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1101, "end_frame": 1230, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1230, "end_frame": 1429, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698847, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 52, "end_frame": 402, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 1310, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1310, "end_frame": 1467, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1467, "end_frame": 1700, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698859, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 40, "end_frame": 342, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 342, "end_frame": 983, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 983, "end_frame": 1113, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1113, "end_frame": 1357, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698877, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 83, "end_frame": 458, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 458, "end_frame": 1122, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1122, "end_frame": 1202, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1202, "end_frame": 1433, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698892, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 95, "end_frame": 417, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 417, "end_frame": 1147, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1147, "end_frame": 1276, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1276, "end_frame": 1490, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698907, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 79, "end_frame": 386, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 1043, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1043, "end_frame": 1134, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1134, "end_frame": 1326, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698950, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 99, "end_frame": 363, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 1077, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1077, "end_frame": 1184, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1184, "end_frame": 1451, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698960, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 56, "end_frame": 319, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 319, "end_frame": 811, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 811, "end_frame": 923, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 923, "end_frame": 1117, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698975, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 726, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 726, "end_frame": 805, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 805, "end_frame": 1000, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 698993, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 88, "end_frame": 395, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 395, "end_frame": 906, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 906, "end_frame": 996, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 996, "end_frame": 1193, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 699019, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 58, "end_frame": 331, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 331, "end_frame": 612, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 612, "end_frame": 722, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 722, "end_frame": 889, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701713, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 138, "end_frame": 397, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 397, "end_frame": 895, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 895, "end_frame": 1018, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1018, "end_frame": 1282, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701735, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 71, "end_frame": 345, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 345, "end_frame": 1406, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1406, "end_frame": 1541, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1541, "end_frame": 1924, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701768, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 79, "end_frame": 438, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 438, "end_frame": 1190, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1190, "end_frame": 1293, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1293, "end_frame": 1532, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701792, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 68, "end_frame": 402, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 402, "end_frame": 1420, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1420, "end_frame": 1521, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1521, "end_frame": 1865, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 701804, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 70, "end_frame": 481, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 481, "end_frame": 1181, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 1181, "end_frame": 1301, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1301, "end_frame": 1719, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 713174, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 225, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 596, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 596, "end_frame": 749, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 749, "end_frame": 907, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708858, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 347, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 347, "end_frame": 714, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 714, "end_frame": 774, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 774, "end_frame": 894, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708869, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 690, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 690, "end_frame": 734, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 734, "end_frame": 866, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708877, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 709, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 709, "end_frame": 765, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 765, "end_frame": 952, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708899, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 684, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 684, "end_frame": 751, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 751, "end_frame": 876, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708918, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 53, "end_frame": 337, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 337, "end_frame": 750, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 750, "end_frame": 812, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 812, "end_frame": 986, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708934, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 358, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 825, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 825, "end_frame": 891, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 891, "end_frame": 1005, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708945, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 649, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 649, "end_frame": 703, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 703, "end_frame": 845, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708953, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 616, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 616, "end_frame": 670, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 670, "end_frame": 846, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708957, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 548, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 548, "end_frame": 597, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 597, "end_frame": 707, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708969, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 305, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 675, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 675, "end_frame": 746, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 746, "end_frame": 855, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 708978, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 834, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 834, "end_frame": 882, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 882, "end_frame": 1012, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709050, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 363, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 790, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 790, "end_frame": 853, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 853, "end_frame": 980, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709065, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 335, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 335, "end_frame": 917, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 917, "end_frame": 991, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1134, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709095, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 747, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 747, "end_frame": 809, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 809, "end_frame": 911, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709109, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 330, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 330, "end_frame": 727, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 727, "end_frame": 793, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 793, "end_frame": 890, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709125, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 343, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 343, "end_frame": 718, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 718, "end_frame": 804, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 804, "end_frame": 920, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709141, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 302, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 302, "end_frame": 710, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 710, "end_frame": 778, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 778, "end_frame": 877, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709153, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 699, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 699, "end_frame": 797, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 797, "end_frame": 904, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709164, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 27, "end_frame": 253, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 253, "end_frame": 562, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 562, "end_frame": 637, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 637, "end_frame": 736, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709184, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 607, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 607, "end_frame": 681, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 681, "end_frame": 841, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709191, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 242, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 242, "end_frame": 593, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 593, "end_frame": 662, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 662, "end_frame": 816, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709202, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 625, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 625, "end_frame": 683, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 683, "end_frame": 792, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709217, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 353, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 353, "end_frame": 704, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 704, "end_frame": 769, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 769, "end_frame": 893, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709227, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 333, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 333, "end_frame": 889, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 889, "end_frame": 955, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 955, "end_frame": 1069, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709241, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 355, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 355, "end_frame": 805, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 805, "end_frame": 858, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 858, "end_frame": 968, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709250, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 226, "end_frame": 615, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 615, "end_frame": 674, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 674, "end_frame": 770, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709260, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 228, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 228, "end_frame": 518, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 518, "end_frame": 571, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 571, "end_frame": 667, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709271, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 286, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 286, "end_frame": 609, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 609, "end_frame": 665, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 665, "end_frame": 783, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709286, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 632, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 632, "end_frame": 706, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 706, "end_frame": 899, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709301, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 647, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 647, "end_frame": 799, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 799, "end_frame": 952, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709312, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 316, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 316, "end_frame": 667, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 667, "end_frame": 802, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 802, "end_frame": 902, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709325, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 578, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 578, "end_frame": 711, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 711, "end_frame": 825, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709334, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 257, "end_frame": 711, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 711, "end_frame": 781, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 781, "end_frame": 878, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709342, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 571, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 571, "end_frame": 664, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 664, "end_frame": 754, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709347, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 280, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 280, "end_frame": 671, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 671, "end_frame": 797, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 797, "end_frame": 893, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709353, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 675, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 675, "end_frame": 769, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 769, "end_frame": 877, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709360, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 254, "end_frame": 593, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 593, "end_frame": 687, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 687, "end_frame": 855, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709383, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 47, "end_frame": 284, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 284, "end_frame": 619, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 619, "end_frame": 713, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 713, "end_frame": 872, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709401, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 273, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 273, "end_frame": 637, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 637, "end_frame": 718, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 718, "end_frame": 890, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709417, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 240, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 240, "end_frame": 643, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 643, "end_frame": 739, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 739, "end_frame": 880, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709432, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 235, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 235, "end_frame": 708, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 708, "end_frame": 789, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 789, "end_frame": 970, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709440, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 692, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 692, "end_frame": 822, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 822, "end_frame": 973, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709450, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 239, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 239, "end_frame": 633, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 633, "end_frame": 741, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 741, "end_frame": 853, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709507, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 615, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 615, "end_frame": 675, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 675, "end_frame": 762, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709524, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 229, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 229, "end_frame": 494, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 494, "end_frame": 553, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 553, "end_frame": 650, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709539, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 245, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 245, "end_frame": 658, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 658, "end_frame": 743, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 743, "end_frame": 907, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709556, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 271, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 271, "end_frame": 666, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 666, "end_frame": 725, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 725, "end_frame": 883, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709567, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 281, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 281, "end_frame": 613, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 613, "end_frame": 688, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 688, "end_frame": 825, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709581, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 315, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 315, "end_frame": 688, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 688, "end_frame": 751, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 751, "end_frame": 857, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709598, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 612, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 612, "end_frame": 670, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 670, "end_frame": 757, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709609, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 270, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 270, "end_frame": 720, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 720, "end_frame": 779, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 779, "end_frame": 906, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709830, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 294, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 689, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 689, "end_frame": 747, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 747, "end_frame": 885, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709846, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 277, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 277, "end_frame": 744, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 744, "end_frame": 816, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 816, "end_frame": 965, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709862, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 261, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 261, "end_frame": 639, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 639, "end_frame": 735, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 735, "end_frame": 861, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709875, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 371, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 371, "end_frame": 894, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 894, "end_frame": 974, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 974, "end_frame": 1092, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709889, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 296, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 296, "end_frame": 685, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 685, "end_frame": 765, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 765, "end_frame": 964, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709935, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 233, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 233, "end_frame": 539, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 539, "end_frame": 642, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 642, "end_frame": 796, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709960, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 51, "end_frame": 358, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 358, "end_frame": 714, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 714, "end_frame": 789, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 789, "end_frame": 911, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709969, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 278, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 278, "end_frame": 666, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 666, "end_frame": 763, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 763, "end_frame": 910, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709987, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 308, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 308, "end_frame": 637, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 637, "end_frame": 719, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 719, "end_frame": 838, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 709999, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 282, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 282, "end_frame": 735, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 735, "end_frame": 817, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 817, "end_frame": 1077, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710023, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 300, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 300, "end_frame": 667, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 667, "end_frame": 724, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 724, "end_frame": 856, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710035, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 272, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 272, "end_frame": 605, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 605, "end_frame": 669, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 669, "end_frame": 837, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710067, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 969, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 969, "end_frame": 1048, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 1048, "end_frame": 1169, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710078, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 378, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 899, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 899, "end_frame": 968, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 968, "end_frame": 1088, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710091, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 311, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 311, "end_frame": 764, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 764, "end_frame": 841, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 841, "end_frame": 994, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710111, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 326, "end_frame": 846, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 846, "end_frame": 915, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 915, "end_frame": 1092, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710150, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 320, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 320, "end_frame": 650, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 650, "end_frame": 717, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 717, "end_frame": 918, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710167, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 301, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 301, "end_frame": 745, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 745, "end_frame": 826, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 826, "end_frame": 966, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710186, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 247, "end_frame": 654, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 654, "end_frame": 739, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 739, "end_frame": 861, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710201, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 288, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 288, "end_frame": 754, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 754, "end_frame": 809, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 809, "end_frame": 928, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710216, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 357, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 357, "end_frame": 837, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 837, "end_frame": 910, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 910, "end_frame": 1068, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710265, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 307, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 307, "end_frame": 615, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 615, "end_frame": 697, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 697, "end_frame": 841, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710323, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 299, "end_frame": 689, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 689, "end_frame": 760, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 760, "end_frame": 883, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710342, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 424, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 424, "end_frame": 862, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 862, "end_frame": 930, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 930, "end_frame": 1069, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710365, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 507, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 507, "end_frame": 900, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 900, "end_frame": 991, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 991, "end_frame": 1156, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710386, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 303, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 303, "end_frame": 714, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 714, "end_frame": 780, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 780, "end_frame": 935, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710398, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 329, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 847, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 847, "end_frame": 921, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 921, "end_frame": 1048, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710410, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 318, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 318, "end_frame": 772, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 772, "end_frame": 832, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 832, "end_frame": 966, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710421, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 801, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 801, "end_frame": 867, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 867, "end_frame": 1006, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710431, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 263, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 263, "end_frame": 679, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 679, "end_frame": 763, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 763, "end_frame": 894, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710457, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 50, "end_frame": 346, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 832, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 832, "end_frame": 908, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 908, "end_frame": 1072, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710519, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 314, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 314, "end_frame": 895, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 895, "end_frame": 970, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 970, "end_frame": 1131, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710533, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 283, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 283, "end_frame": 760, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 760, "end_frame": 832, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 832, "end_frame": 977, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710558, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 55, "end_frame": 327, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 327, "end_frame": 781, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 781, "end_frame": 855, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 855, "end_frame": 1027, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710569, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 363, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 363, "end_frame": 892, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 892, "end_frame": 976, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 976, "end_frame": 1121, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710586, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 351, "end_frame": 767, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 767, "end_frame": 815, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 815, "end_frame": 978, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710602, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 306, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 306, "end_frame": 764, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 764, "end_frame": 838, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 838, "end_frame": 979, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } }, { "episode_id": 710663, "task_id": 421, "task_name": "Pick up the item to wipe away the stain.", "init_scene_text": "The cup and cloth are both located within the robot's operable range on the table, with the cup positioned closer to the stain.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 336, "action_text": "Lift the cup on the table with the left arm.", "skill": "Pick" }, { "start_frame": 336, "end_frame": 740, "action_text": "Grasp the cloth on the table and wipe the stain.", "skill": "Wipe" }, { "start_frame": 740, "end_frame": 820, "action_text": "Lower the right arm to put away the cleaned cloth.", "skill": "Place" }, { "start_frame": 820, "end_frame": 971, "action_text": "Lower the cup held in the left arm.", "skill": "Place" } ], "key_frame": [] } } ]