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 [
{
"episode_id": 1237093,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of garbage on the table.",
"label_info": {
"action_config": [
{
"start_frame": 24,
"end_frame": 152,
"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 152,
"end_frame": 294,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
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"end_frame": 437,
"action_text": "Pick up the napkin ball on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 437,
"end_frame": 568,
"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237026,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, along with several pieces of trash on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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},
{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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},
{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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},
{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237098,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, along with a few pieces of trash.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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},
{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
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"action_text": "Pick up the napkin ball on the desktop with the right arm.",
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},
{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237080,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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},
{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
"skill": "Place"
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]
}
},
{
"episode_id": 1237102,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash scattered around it.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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},
{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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]
}
},
{
"episode_id": 1237063,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, and there are a few pieces of trash on the table.",
"label_info": {
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237074,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash bin is placed on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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},
{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
"skill": "Place"
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]
}
},
{
"episode_id": 1237088,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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}
]
}
},
{
"episode_id": 1237104,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin ball on the desktop with the right arm.",
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},
{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
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}
]
}
},
{
"episode_id": 1237069,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
"label_info": {
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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{
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]
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},
{
"episode_id": 1237108,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, along with some pieces of trash scattered on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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]
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},
{
"episode_id": 1237114,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash scattered on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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},
{
"episode_id": 1237133,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with a few pieces of trash on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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{
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]
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},
{
"episode_id": 1237054,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash bin sits on the table in front of the robot, with several pieces of trash lying on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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{
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},
{
"episode_id": 1237149,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot, there is a desktop trash can, and there are several pieces of trash on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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{
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]
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},
{
"episode_id": 1237136,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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{
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]
}
},
{
"episode_id": 1237120,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with a few pieces of trash lying on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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{
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},
{
"episode_id": 1237143,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of garbage scattered on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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{
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]
}
},
{
"episode_id": 1237123,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, along with several pieces of litter.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237152,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with some pieces of garbage on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
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},
{
"episode_id": 1237164,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash scattered across the table surface.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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{
"episode_id": 1237191,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
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{
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{
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},
{
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"task_name": "Discard the trash on the coffee table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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},
{
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"task_name": "Discard the trash on the coffee table.",
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{
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},
{
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"task_name": "Discard the trash on the coffee table.",
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},
{
"episode_id": 1237175,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with a few pieces of trash lying on it.",
"label_info": {
"action_config": [
{
"start_frame": 22,
"end_frame": 169,
"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"end_frame": 290,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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},
{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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}
]
}
},
{
"episode_id": 1237204,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
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"action_config": [
{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
"skill": "Place"
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]
}
},
{
"episode_id": 1237217,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the surface.",
"label_info": {
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"end_frame": 267,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"end_frame": 404,
"action_text": "Pick up the napkin ball on the desktop with the right arm.",
"skill": "Pick"
},
{
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"end_frame": 514,
"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237225,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table.",
"label_info": {
"action_config": [
{
"start_frame": 28,
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
"skill": "Place"
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]
}
},
{
"episode_id": 1237229,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the desk in front of the robot sits a small trash bin, with several pieces of trash scattered on the table.",
"label_info": {
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin ball on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
"skill": "Place"
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]
}
},
{
"episode_id": 1237200,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot is placed a desktop trash bin; there are several pieces of trash on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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]
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},
{
"episode_id": 1237545,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237196,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237558,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, and there are several pieces of trash on the table.",
"label_info": {
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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]
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},
{
"episode_id": 1237232,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, along with several pieces of trash on the table.",
"label_info": {
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237548,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237566,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin ball on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237553,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Pick up the napkin ball on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
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{
"episode_id": 1237607,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the right arm.",
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237591,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
"episode_id": 1237600,
"task_name": "Discard the trash on the coffee table.",
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
"episode_id": 1237616,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
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"action_text": "Pick up the napkin ball on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
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{
"episode_id": 1237596,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered nearby.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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},
{
"episode_id": 1237576,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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"action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237627,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash scattered on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237580,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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},
{
"episode_id": 1237663,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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{
"episode_id": 1237678,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash can is placed on the table in front of the robot, and there are several pieces of trash on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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},
{
"episode_id": 1237684,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the left arm.",
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"action_text": "Pick up the napkin ball on the desktop with the right arm.",
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{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237673,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot is a desktop trash can, with several pieces of trash on the table.",
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{
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},
{
"episode_id": 1237683,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash can is placed on the table in front of the robot, with several pieces of trash lying on the table.",
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"action_config": [
{
"start_frame": 24,
"end_frame": 296,
"action_text": "Pick up the white coconut water on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 296,
"end_frame": 456,
"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 456,
"end_frame": 692,
"action_text": "Pick up the empty snack wrappers on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 692,
"end_frame": 1215,
"action_text": "Throw the held empty snack wrappers into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237689,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 26,
"end_frame": 310,
"action_text": "Pick up the white coconut water on the desktop with the left arm.",
"skill": "Pick"
},
{
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"end_frame": 482,
"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 482,
"end_frame": 743,
"action_text": "Pick up the used snack packaging on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 743,
"end_frame": 1145,
"action_text": "Throw the held used snack packaging into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237718,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered around it.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 332,
"action_text": "Pick up the white coconut water on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 332,
"end_frame": 487,
"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 487,
"end_frame": 711,
"action_text": "Pick up the used snack packaging on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 711,
"end_frame": 1047,
"action_text": "Throw the held used snack packaging into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237737,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot, there is a desktop trash can along with a few pieces of trash.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 312,
"action_text": "Pick up the white coconut water on the desktop with the left arm.",
"skill": "Pick"
},
{
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"end_frame": 490,
"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 490,
"end_frame": 769,
"action_text": "Pick up the empty snack wrappers on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 769,
"end_frame": 1180,
"action_text": "Throw the held empty snack wrappers into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237725,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 27,
"end_frame": 311,
"action_text": "Pick up the white coconut water on the desktop with the left arm.",
"skill": "Pick"
},
{
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"end_frame": 489,
"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 489,
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"action_text": "Pick up the empty snack wrapper on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 722,
"end_frame": 1052,
"action_text": "Throw the held empty snack wrapper into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237676,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot is a desktop trash can, with several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 22,
"end_frame": 316,
"action_text": "Pick up the white coconut water on the desktop with the left arm.",
"skill": "Pick"
},
{
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"end_frame": 499,
"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
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"action_text": "Pick up the snack packaging on the desktop with the right arm.",
"skill": "Pick"
},
{
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"action_text": "Throw the held snack packaging into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237694,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 26,
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
"skill": "Pick"
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{
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"end_frame": 482,
"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the snack packaging bag on the desktop with the right arm.",
"skill": "Pick"
},
{
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"action_text": "Throw the held snack packaging bag into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237760,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 0,
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
"skill": "Pick"
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{
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"end_frame": 488,
"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the empty snack wrapper on the desktop with the right arm.",
"skill": "Pick"
},
{
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"end_frame": 1117,
"action_text": "Throw the held empty snack wrapper into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237657,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the snack wrapper on the desktop with the right arm.",
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{
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"action_text": "Throw the held snack wrapper into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237740,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the used snack packaging on the desktop with the right arm.",
"skill": "Pick"
},
{
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"end_frame": 1102,
"action_text": "Throw the held used snack packaging into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237755,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of garbage on the same table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the empty snack wrappers on the desktop with the right arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held empty snack wrappers into the trash can on the desk with the right arm.",
"skill": "Place"
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]
}
},
{
"episode_id": 1237707,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
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{
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the used snack wrapper on the desktop with the right arm.",
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{
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"action_text": "Throw the held used snack wrapper into the trash can on the desk with the right arm.",
"skill": "Place"
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]
}
},
{
"episode_id": 1237752,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the used snack packaging on the desktop with the right arm.",
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{
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"action_text": "Throw the held used snack packaging into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
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},
{
"episode_id": 1237774,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
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"action_config": [
{
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the empty snack wrapper on the desktop with the right arm.",
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{
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"action_text": "Throw the held empty snack wrapper into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237321,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desk trash can, and there are several pieces of trash on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the used snack wrapper on the desktop with the left arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held used snack wrapper into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the white coconut water on the desktop with the right arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
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]
}
},
{
"episode_id": 1237295,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot is a desktop trash can, and there are several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 37,
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"action_text": "Pick up the snack wrapper on the desktop with the left arm.",
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{
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"action_text": "Throw the held snack wrapper into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the white coconut water on the desktop with the right arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
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]
}
},
{
"episode_id": 1237314,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the empty snack wrappers on the desktop with the left arm.",
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{
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"action_text": "Throw the held empty snack wrappers into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the white coconut water on the desktop with the right arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237767,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of garbage lying on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the snack packaging bag on the desktop with the right arm.",
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{
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"action_text": "Throw the held snack packaging bag into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237765,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
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"action_text": "Pick up the white coconut water on the desktop with the left arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the snack packaging on the desktop with the right arm.",
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{
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"action_text": "Throw the held snack packaging into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237305,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, and there are several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 349,
"action_text": "Pick up the used snack packaging on the desktop with the left arm.",
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{
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"action_text": "Throw the held used snack packaging into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the white coconut water on the desktop with the right arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237363,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 0,
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"action_text": "Pick up the snack packaging bag on the desktop with the left arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held snack packaging bag into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the white coconut water on the desktop with the right arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237355,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash scattered across the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 26,
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"action_text": "Pick up the empty snack wrappers on the desktop with the left arm.",
"skill": "Pick"
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{
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"end_frame": 547,
"action_text": "Throw the held empty snack wrappers into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the white coconut water on the desktop with the right arm.",
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237335,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, along with several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 27,
"end_frame": 314,
"action_text": "Pick up the empty snack wrapper on the desktop with the left arm.",
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{
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"action_text": "Throw the held empty snack wrapper into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the white coconut water on the desktop with the right arm.",
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},
{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237348,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of litter scattered across the tabletop.",
"label_info": {
"action_config": [
{
"start_frame": 0,
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"action_text": "Pick up the snack wrapper on the desktop with the left arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held snack wrapper into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237375,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 294,
"action_text": "Pick up the snack packaging on the desktop with the left arm.",
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{
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"action_text": "Throw the held snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
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"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237342,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash bin on the table in front of the robot, along with several pieces of trash scattered on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 294,
"action_text": "Pick up the used snack wrapper on the desktop with the left arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held used snack wrapper into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 513,
"end_frame": 770,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 770,
"end_frame": 1105,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237414,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 328,
"action_text": "Pick up the empty snack wrapper on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 328,
"end_frame": 493,
"action_text": "Throw the held empty snack wrapper into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 493,
"end_frame": 749,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 749,
"end_frame": 1035,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237328,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, and there are several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 300,
"action_text": "Pick up the used snack packaging on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 300,
"end_frame": 561,
"action_text": "Throw the held used snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 561,
"end_frame": 863,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 863,
"end_frame": 1184,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237434,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying nearby.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 272,
"action_text": "Pick up the snack packaging on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 272,
"end_frame": 444,
"action_text": "Throw the held snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 444,
"end_frame": 730,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 730,
"end_frame": 1033,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237400,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, and there are several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 297,
"action_text": "Pick up the snack packaging bag on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 297,
"end_frame": 486,
"action_text": "Throw the held snack packaging bag into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 486,
"end_frame": 785,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 785,
"end_frame": 1124,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237421,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can and several pieces of trash on the table in front of the robot.",
"label_info": {
"action_config": [
{
"start_frame": 32,
"end_frame": 310,
"action_text": "Pick up the snack wrapper on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 310,
"end_frame": 485,
"action_text": "Throw the held snack wrapper into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 485,
"end_frame": 747,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 747,
"end_frame": 1057,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237395,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, along with several pieces of trash.",
"label_info": {
"action_config": [
{
"start_frame": 30,
"end_frame": 301,
"action_text": "Pick up the used snack packaging on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 301,
"end_frame": 569,
"action_text": "Throw the held used snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 569,
"end_frame": 838,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 838,
"end_frame": 1136,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237443,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 26,
"end_frame": 278,
"action_text": "Pick up the used snack wrapper on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 278,
"end_frame": 426,
"action_text": "Throw the held used snack wrapper into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 426,
"end_frame": 759,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 759,
"end_frame": 1038,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237465,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered around.",
"label_info": {
"action_config": [
{
"start_frame": 28,
"end_frame": 303,
"action_text": "Pick up the used snack packaging on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 303,
"end_frame": 442,
"action_text": "Throw the held used snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 442,
"end_frame": 709,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 709,
"end_frame": 1026,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237405,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash bin and several pieces of trash on the table in front of the robot.",
"label_info": {
"action_config": [
{
"start_frame": 29,
"end_frame": 341,
"action_text": "Pick up the empty snack wrappers on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 341,
"end_frame": 523,
"action_text": "Throw the held empty snack wrappers into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 523,
"end_frame": 826,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 826,
"end_frame": 1157,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237493,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash lying on the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 302,
"action_text": "Pick up the used snack packaging on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 302,
"end_frame": 536,
"action_text": "Throw the held used snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 536,
"end_frame": 805,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 805,
"end_frame": 1108,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237515,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table as well.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 262,
"action_text": "Pick up the empty snack wrappers on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 262,
"end_frame": 515,
"action_text": "Throw the held empty snack wrappers into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 515,
"end_frame": 773,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 773,
"end_frame": 1084,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237471,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash can is placed on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 22,
"end_frame": 282,
"action_text": "Pick up the snack packaging on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 282,
"end_frame": 474,
"action_text": "Throw the held snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 474,
"end_frame": 725,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 725,
"end_frame": 1036,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237459,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash can sits on the table in front of the robot, accompanied by several pieces of litter on the tabletop.",
"label_info": {
"action_config": [
{
"start_frame": 24,
"end_frame": 271,
"action_text": "Pick up the empty snack wrapper on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 271,
"end_frame": 412,
"action_text": "Throw the held empty snack wrapper into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 412,
"end_frame": 629,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 629,
"end_frame": 890,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237482,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash scattered across the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 252,
"action_text": "Pick up the snack packaging bag on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 252,
"end_frame": 420,
"action_text": "Throw the held snack packaging bag into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 420,
"end_frame": 677,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 677,
"end_frame": 954,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237489,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of garbage lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 28,
"end_frame": 281,
"action_text": "Pick up the snack wrapper on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 281,
"end_frame": 475,
"action_text": "Throw the held snack wrapper into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 475,
"end_frame": 734,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 734,
"end_frame": 1032,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237509,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of garbage scattered across the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 271,
"action_text": "Pick up the used snack packaging on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 271,
"end_frame": 454,
"action_text": "Throw the held used snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 454,
"end_frame": 691,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 691,
"end_frame": 1005,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237526,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 28,
"end_frame": 268,
"action_text": "Pick up the used snack packaging on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 268,
"end_frame": 439,
"action_text": "Throw the held used snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 439,
"end_frame": 731,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 731,
"end_frame": 1056,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237638,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of garbage lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 28,
"end_frame": 351,
"action_text": "Pick up the snack packaging bag on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 351,
"end_frame": 591,
"action_text": "Throw the held snack packaging bag into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 591,
"end_frame": 847,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 847,
"end_frame": 1104,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237501,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 30,
"end_frame": 232,
"action_text": "Pick up the used snack wrapper on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 232,
"end_frame": 413,
"action_text": "Throw the held used snack wrapper into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 413,
"end_frame": 661,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 661,
"end_frame": 977,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237645,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 25,
"end_frame": 305,
"action_text": "Pick up the snack wrapper on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 305,
"end_frame": 448,
"action_text": "Throw the held snack wrapper into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 448,
"end_frame": 684,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 684,
"end_frame": 991,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237613,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, along with several pieces of garbage on the table.",
"label_info": {
"action_config": [
{
"start_frame": 14,
"end_frame": 307,
"action_text": "Pick up the snack packaging on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 307,
"end_frame": 511,
"action_text": "Throw the held snack packaging into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 511,
"end_frame": 798,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 798,
"end_frame": 1095,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237569,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, and there are several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 25,
"end_frame": 242,
"action_text": "Pick up the empty snack wrappers on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 242,
"end_frame": 421,
"action_text": "Throw the held empty snack wrappers into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 421,
"end_frame": 664,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 664,
"end_frame": 977,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237625,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot is a desktop trash can, and there are several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 42,
"end_frame": 316,
"action_text": "Pick up the empty snack wrapper on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 316,
"end_frame": 470,
"action_text": "Throw the held empty snack wrapper into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 470,
"end_frame": 739,
"action_text": "Pick up the white coconut water on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 739,
"end_frame": 1043,
"action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237286,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of litter scattered across the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 22,
"end_frame": 179,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 179,
"end_frame": 345,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 345,
"end_frame": 501,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 501,
"end_frame": 663,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237245,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 183,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 183,
"end_frame": 311,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 311,
"end_frame": 431,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 431,
"end_frame": 565,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237313,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of litter scattered across the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 19,
"end_frame": 265,
"action_text": "Pick up the napkin ball on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 265,
"end_frame": 408,
"action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
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"end_frame": 571,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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},
{
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"end_frame": 799,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237309,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash scattered on the tabletop.",
"label_info": {
"action_config": [
{
"start_frame": 25,
"end_frame": 168,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
"start_frame": 168,
"end_frame": 322,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"end_frame": 492,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
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{
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"end_frame": 624,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237241,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of garbage lying on the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 19,
"end_frame": 163,
"action_text": "Pick up the napkin ball on the desktop with the left arm.",
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{
"start_frame": 163,
"end_frame": 310,
"action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 310,
"end_frame": 473,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 473,
"end_frame": 633,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237302,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash can sits on the table in front of the robot, with several pieces of trash scattered across the tabletop.",
"label_info": {
"action_config": [
{
"start_frame": 23,
"end_frame": 164,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
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{
"start_frame": 164,
"end_frame": 304,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
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"end_frame": 701,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237325,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a small trash bin on the table in front of the robot, along with several pieces of trash scattered on the surface.",
"label_info": {
"action_config": [
{
"start_frame": 27,
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"end_frame": 351,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
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{
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"end_frame": 749,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237296,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot is a desktop trash can, and there are several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 23,
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237319,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash can sits on the table in front of the robot, with several pieces of trash scattered on the tabletop.",
"label_info": {
"action_config": [
{
"start_frame": 25,
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237366,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 22,
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"action_text": "Pick up the napkin ball on the desktop with the left arm.",
"skill": "Pick"
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{
"start_frame": 183,
"end_frame": 307,
"action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.",
"skill": "Place"
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237401,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 24,
"end_frame": 186,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
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{
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"end_frame": 360,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
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{
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"end_frame": 904,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237418,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of garbage scattered across the surface.",
"label_info": {
"action_config": [
{
"start_frame": 26,
"end_frame": 190,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
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{
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"end_frame": 885,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237378,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash can and several pieces of trash are on the table in front of the robot.",
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"action_config": [
{
"start_frame": 22,
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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]
}
},
{
"episode_id": 1237433,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table.",
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{
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"action_text": "Pick up the napkin ball on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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{
"episode_id": 1237407,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table surface.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237360,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the desk in front of the robot, with several pieces of trash lying on the desk.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237396,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
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{
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"action_text": "Pick up the napkin ball on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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},
{
"episode_id": 1237425,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered nearby.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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]
}
},
{
"episode_id": 1237469,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash can is placed on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
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"action_text": "Pick up the napkin ball on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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]
}
},
{
"episode_id": 1237475,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash can sits on the table in front of the robot, with several pieces of trash scattered on the table.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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]
}
},
{
"episode_id": 1237483,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash lying on the table surface.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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}
},
{
"episode_id": 1237458,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table surface.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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}
]
}
},
{
"episode_id": 1237437,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash scattered on the table.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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}
]
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},
{
"episode_id": 1237507,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, and there are several pieces of trash on the table.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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}
},
{
"episode_id": 1237491,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash bin on the table in front of the robot, with several pieces of trash scattered on the table.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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{
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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]
}
},
{
"episode_id": 1237463,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, along with several pieces of trash.",
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{
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"action_text": "Pick up the napkin wad on the desktop with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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}
]
}
},
{
"episode_id": 1237499,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "A desktop trash bin sits on the table in front of the robot, with several pieces of trash lying on the table.",
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"action_config": [
{
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"action_text": "Pick up the napkin ball on the desktop with the left arm.",
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{
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"action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.",
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{
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"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
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{
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"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
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]
}
},
{
"episode_id": 1237527,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, along with several pieces of trash on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 207,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 207,
"end_frame": 398,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 398,
"end_frame": 588,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 588,
"end_frame": 802,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237513,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 219,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 219,
"end_frame": 405,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 405,
"end_frame": 588,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 588,
"end_frame": 903,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237488,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered across the table surface.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 233,
"action_text": "Pick up the napkin ball on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 233,
"end_frame": 388,
"action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 388,
"end_frame": 596,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 596,
"end_frame": 931,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237517,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash bin on the table in front of the robot, along with several pieces of garbage on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 200,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 200,
"end_frame": 347,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 347,
"end_frame": 540,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 540,
"end_frame": 893,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237536,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 224,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 224,
"end_frame": 394,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 394,
"end_frame": 574,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 574,
"end_frame": 846,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
},
{
"episode_id": 1237539,
"task_name": "Discard the trash on the coffee table.",
"init_scene_text": "There is a desktop trash can and some trash on the table in front of the robot.",
"label_info": {
"action_config": [
{
"start_frame": 0,
"end_frame": 193,
"action_text": "Pick up the napkin wad on the desktop with the left arm.",
"skill": "Pick"
},
{
"start_frame": 193,
"end_frame": 366,
"action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.",
"skill": "Place"
},
{
"start_frame": 366,
"end_frame": 552,
"action_text": "Pick up the yellow energy drink can on the desktop with the right arm.",
"skill": "Pick"
},
{
"start_frame": 552,
"end_frame": 878,
"action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.",
"skill": "Place"
}
]
}
}
]