[ { "episode_id": 699546, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 332, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 332, "end_frame": 532, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 532, "end_frame": 687, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 687, "end_frame": 898, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 898, "end_frame": 1101, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1101, "end_frame": 1417, "action_text": "Lift the left arm with outer packaging skin.", 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"Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 954, "end_frame": 1278, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 1278, "end_frame": 1481, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1481, "end_frame": 1800, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1800, "end_frame": 2100, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 2100, "end_frame": 2295, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 2295, "end_frame": 2540, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 699603, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 324, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 324, "end_frame": 568, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 568, "end_frame": 697, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 697, "end_frame": 973, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 973, "end_frame": 1222, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1222, "end_frame": 1468, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1468, "end_frame": 1739, "action_text": "Pass the outer packaging 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"Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1689, "end_frame": 1936, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 699701, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 233, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 233, "end_frame": 406, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 406, "end_frame": 542, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 542, "end_frame": 697, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { 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"Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 912, "end_frame": 1191, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1191, "end_frame": 1429, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1429, "end_frame": 1594, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1594, "end_frame": 1853, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 699786, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 254, "action_text": "Open the lid of desktop trash bin with the right arm.", 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699955, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 74, "end_frame": 301, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 301, "end_frame": 499, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 499, "end_frame": 623, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 623, "end_frame": 811, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 811, "end_frame": 977, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 977, "end_frame": 1312, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, 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"Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1058, "end_frame": 1301, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1301, "end_frame": 1483, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1483, "end_frame": 1613, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1613, "end_frame": 1909, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701493, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 299, "action_text": "Open the lid of desktop trash bin with the right arm.", 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"start_frame": 903, "end_frame": 1093, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1093, "end_frame": 1283, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1283, "end_frame": 1477, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1477, "end_frame": 1774, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 699512, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 226, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 226, "end_frame": 381, "action_text": "Lift the right 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"episode_id": 699520, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 227, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 227, "end_frame": 393, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 393, "end_frame": 516, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 516, "end_frame": 624, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 624, "end_frame": 798, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 798, "end_frame": 987, "action_text": "Lift the left arm with outer packaging skin.", 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are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 257, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 257, "end_frame": 382, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 382, "end_frame": 574, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 574, "end_frame": 678, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 678, "end_frame": 824, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 824, "end_frame": 1036, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1036, "end_frame": 1221, "action_text": "Pass the outer packaging skin with 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"episode_id": 699921, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 391, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 391, "end_frame": 536, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 536, "end_frame": 681, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 681, "end_frame": 828, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 828, "end_frame": 1003, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1003, "end_frame": 1204, "action_text": "Lift the left arm with outer packaging skin.", 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"start_frame": 1099, "end_frame": 1323, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 706181, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 201, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 201, "end_frame": 478, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 478, "end_frame": 619, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 619, "end_frame": 719, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 719, "end_frame": 828, "action_text": "Throw the peel held in the right arm 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"action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 700813, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 147, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 147, "end_frame": 340, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 340, "end_frame": 435, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 435, "end_frame": 626, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 626, "end_frame": 720, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": 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"episode_id": 700867, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 168, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 168, "end_frame": 338, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 338, "end_frame": 443, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 443, "end_frame": 633, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 633, "end_frame": 763, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 763, "end_frame": 1000, "action_text": "Lift the left arm with outer packaging skin.", 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"task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 185, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 185, "end_frame": 389, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 389, "end_frame": 501, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 501, "end_frame": 708, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 708, "end_frame": 826, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 826, "end_frame": 1036, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1036, "end_frame": 1198, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1198, "end_frame": 1379, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1379, "end_frame": 1754, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701091, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 126, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 126, "end_frame": 305, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 305, "end_frame": 395, "action_text": "Throw the paper ball held in the right arm 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countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 195, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 195, "end_frame": 368, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 368, "end_frame": 456, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 456, "end_frame": 634, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 634, "end_frame": 769, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 769, "end_frame": 997, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 997, "end_frame": 1133, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1133, "end_frame": 1317, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1317, "end_frame": 1679, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701113, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 195, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 195, "end_frame": 390, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 390, "end_frame": 513, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 513, "end_frame": 675, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 675, "end_frame": 825, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 825, "end_frame": 1033, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1033, "end_frame": 1196, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1196, "end_frame": 1431, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1431, "end_frame": 1726, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701126, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 180, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 180, "end_frame": 386, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 386, "end_frame": 471, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 471, "end_frame": 648, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 648, "end_frame": 763, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 763, "end_frame": 1052, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1052, "end_frame": 1204, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1204, "end_frame": 1421, "action_text": "Throw the held outer packaging skin into desktop 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"Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 877, "end_frame": 1167, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1167, "end_frame": 1305, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1305, "end_frame": 1532, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1532, "end_frame": 1884, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701161, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 144, "action_text": "Open the lid of desktop trash bin with the right arm.", 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desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701184, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 175, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 175, "end_frame": 364, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 364, "end_frame": 491, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 491, "end_frame": 716, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 716, "end_frame": 852, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 852, "end_frame": 1075, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1075, "end_frame": 1221, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1221, "end_frame": 1412, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1412, "end_frame": 1781, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701220, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 197, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 197, "end_frame": 374, "action_text": "Lift the right arm with paper 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"task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 249, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 249, "end_frame": 449, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 449, "end_frame": 541, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 541, "end_frame": 713, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 713, "end_frame": 829, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 829, "end_frame": 1069, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1069, "end_frame": 1225, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1225, "end_frame": 1404, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1404, "end_frame": 1642, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701262, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 180, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 180, "end_frame": 378, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 378, "end_frame": 484, "action_text": "Throw the paper ball 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trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 264, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 264, "end_frame": 453, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 453, "end_frame": 535, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 535, "end_frame": 719, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 719, "end_frame": 836, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 836, "end_frame": 1057, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1057, "end_frame": 1199, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1199, "end_frame": 1376, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1376, "end_frame": 1680, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701296, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 165, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 165, "end_frame": 346, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 346, "end_frame": 443, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 443, "end_frame": 620, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 620, "end_frame": 731, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 731, "end_frame": 986, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 986, "end_frame": 1131, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1131, "end_frame": 1309, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1309, "end_frame": 1595, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701332, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 172, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 172, "end_frame": 449, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 449, "end_frame": 566, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 566, "end_frame": 740, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 740, "end_frame": 851, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 851, "end_frame": 1099, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1099, "end_frame": 1258, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1258, "end_frame": 1486, "action_text": "Throw the held outer packaging 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"Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701375, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 168, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 168, "end_frame": 380, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 380, "end_frame": 456, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 456, "end_frame": 652, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 652, "end_frame": 754, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 754, "end_frame": 1027, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1027, "end_frame": 1167, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1167, "end_frame": 1345, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1345, "end_frame": 1627, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701396, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 155, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 155, "end_frame": 376, "action_text": "Lift the right 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"episode_id": 702666, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 247, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 247, "end_frame": 366, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 366, "end_frame": 486, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 486, "end_frame": 594, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 594, "end_frame": 720, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 720, "end_frame": 908, "action_text": "Lift the left arm with outer packaging skin.", 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1342, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1342, "end_frame": 1573, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1573, "end_frame": 1763, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 702983, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 104, "end_frame": 393, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 393, "end_frame": 511, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 511, "end_frame": 624, "action_text": "Throw the paper ball held in the right arm into the 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"start_frame": 1259, "end_frame": 1449, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 703477, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 186, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 186, "end_frame": 329, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 329, "end_frame": 423, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 423, "end_frame": 546, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 546, "end_frame": 660, "action_text": "Throw the peel held in the right arm 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"start_frame": 1124, "end_frame": 1289, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 703592, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 152, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 152, "end_frame": 294, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 294, "end_frame": 390, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 390, "end_frame": 510, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 510, "end_frame": 623, "action_text": "Throw the peel held in the right arm 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"Close" } ], "key_frame": [] } }, { "episode_id": 703619, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 177, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 177, "end_frame": 313, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 313, "end_frame": 385, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 385, "end_frame": 520, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 520, "end_frame": 625, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 625, "end_frame": 774, "action_text": "Lift the left arm 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424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 150, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 150, "end_frame": 267, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 267, "end_frame": 343, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 343, "end_frame": 463, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 463, "end_frame": 570, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 570, "end_frame": 761, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 761, 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"Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 707579, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 179, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 179, "end_frame": 334, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 334, "end_frame": 461, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 461, "end_frame": 572, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 572, "end_frame": 688, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { 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"task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 401, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 401, "end_frame": 555, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 555, "end_frame": 680, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 680, "end_frame": 862, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 862, "end_frame": 1006, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1006, "end_frame": 1143, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { 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"episode_id": 701096, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 351, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 351, "end_frame": 594, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 594, "end_frame": 721, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 721, "end_frame": 1010, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 1010, "end_frame": 1281, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1281, "end_frame": 1418, "action_text": "Lift the left arm with outer packaging skin.", 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"Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 727, "end_frame": 1036, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 1036, "end_frame": 1265, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1265, "end_frame": 1413, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1413, "end_frame": 1564, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1564, "end_frame": 1670, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1670, "end_frame": 2141, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701155, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 267, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 267, "end_frame": 534, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 534, "end_frame": 662, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 662, "end_frame": 854, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 854, "end_frame": 1017, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1017, "end_frame": 1137, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1137, "end_frame": 1273, "action_text": "Pass the outer packaging 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"start_frame": 672, "end_frame": 861, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 861, "end_frame": 1019, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1019, "end_frame": 1194, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1194, "end_frame": 1371, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1371, "end_frame": 1527, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1527, "end_frame": 1959, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701183, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a 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"Pick" }, { "start_frame": 827, "end_frame": 1138, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1138, "end_frame": 1341, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { "start_frame": 1341, "end_frame": 1543, "action_text": "Pass the outer packaging skin with both hands.", "skill": "HandOver" }, { "start_frame": 1543, "end_frame": 1655, "action_text": "Throw the held outer packaging skin into desktop trash bin.", "skill": "Drop" }, { "start_frame": 1655, "end_frame": 2106, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701335, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 293, 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"start_frame": 1570, "end_frame": 1767, "action_text": "Close the lid of desktop trash bin with the right arm.", "skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701364, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 326, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 326, "end_frame": 456, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 456, "end_frame": 612, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 612, "end_frame": 783, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 783, "end_frame": 968, "action_text": "Throw the peel held in the right arm 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"skill": "Close" } ], "key_frame": [] } }, { "episode_id": 701437, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 328, "action_text": "Open the lid of desktop trash bin with the right arm.", "skill": "Open" }, { "start_frame": 328, "end_frame": 480, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 480, "end_frame": 654, "action_text": "Throw the paper ball held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 654, "end_frame": 815, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 815, "end_frame": 1020, "action_text": "Throw the peel held in the right arm into the desktop trash bin.", "skill": "Drop" }, { "start_frame": 1020, "end_frame": 1208, "action_text": "Lift 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704688, "task_id": 424, "task_name": "Clear the countertop waste", "init_scene_text": "There are three pieces of trash on the desk, with a countertop trash bin nearby, which has a garbage bag inside.", "label_info": { "action_config": [ { "start_frame": 0, "end_frame": 155, "action_text": "Open the lid of square trash bin with the right arm.", "skill": "Open" }, { "start_frame": 155, "end_frame": 291, "action_text": "Lift the right arm with peel.", "skill": "Pick" }, { "start_frame": 291, "end_frame": 384, "action_text": "Throw the peel held in the right arm into the square trash bin.", "skill": "Drop" }, { "start_frame": 384, "end_frame": 487, "action_text": "Lift the right arm with paper ball.", "skill": "Pick" }, { "start_frame": 487, "end_frame": 595, "action_text": "Throw the paper ball held in the right arm into the square trash bin.", "skill": "Drop" }, { "start_frame": 595, "end_frame": 764, "action_text": "Lift the left arm with outer packaging skin.", "skill": "Pick" }, { 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