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into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 273, + "end_frame": 402, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 402, + "end_frame": 517, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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": [ + { + "start_frame": 25, + "end_frame": 191, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 191, + "end_frame": 321, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 321, + "end_frame": 454, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 454, + "end_frame": 571, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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": { + "action_config": [ + { + "start_frame": 20, + "end_frame": 173, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 173, + "end_frame": 313, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 313, + "end_frame": 478, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 478, + "end_frame": 615, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 19, + "end_frame": 173, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 173, + "end_frame": 301, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 301, + "end_frame": 448, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 448, + "end_frame": 581, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 22, + "end_frame": 170, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 170, + "end_frame": 315, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 315, + "end_frame": 476, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 476, + "end_frame": 599, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 21, + "end_frame": 151, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 151, + "end_frame": 270, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 270, + "end_frame": 421, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 421, + "end_frame": 549, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 27, + "end_frame": 181, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 181, + "end_frame": 299, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 299, + "end_frame": 475, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 475, + "end_frame": 631, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 22, + "end_frame": 171, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 171, + "end_frame": 285, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 285, + "end_frame": 435, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 435, + "end_frame": 549, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 23, + "end_frame": 165, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 165, + "end_frame": 303, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 303, + "end_frame": 438, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 438, + "end_frame": 593, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 23, + "end_frame": 164, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 164, + "end_frame": 300, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 300, + "end_frame": 438, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 438, + "end_frame": 564, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 22, + "end_frame": 167, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 167, + "end_frame": 318, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 318, + "end_frame": 455, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 455, + "end_frame": 586, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 21, + "end_frame": 212, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 212, + "end_frame": 348, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 348, + "end_frame": 491, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 491, + "end_frame": 598, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 22, + "end_frame": 211, + "action_text": "Pick up the yellow energy drink can on the desktop with the left 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"end_frame": 319, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 319, + "end_frame": 488, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 488, + "end_frame": 665, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 24, + "end_frame": 181, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 181, + "end_frame": 301, + "action_text": "Throw the held yellow energy drink can 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"Place" + }, + { + "start_frame": 301, + "end_frame": 446, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 446, + "end_frame": 608, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "episode_id": 1237182, + "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 nearby.", + "label_info": { + "action_config": [ + { + "start_frame": 24, + "end_frame": 177, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 177, + "end_frame": 301, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 301, + "end_frame": 501, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 501, + "end_frame": 654, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "episode_id": 1237187, + "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": 24, + "end_frame": 175, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 175, + "end_frame": 298, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 298, + "end_frame": 439, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 439, + "end_frame": 561, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "skill": "Pick" + }, + { + "start_frame": 169, + "end_frame": 290, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 290, + "end_frame": 427, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 427, + "end_frame": 560, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 24, + "end_frame": 164, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 164, + "end_frame": 275, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 275, + "end_frame": 405, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 405, + "end_frame": 544, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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": { + "action_config": [ + { + "start_frame": 22, + "end_frame": 151, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 151, + "end_frame": 267, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 267, + "end_frame": 404, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 404, + "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, + "end_frame": 159, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 159, + "end_frame": 275, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 275, + "end_frame": 430, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 430, + "end_frame": 560, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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": { + "action_config": [ + { + "start_frame": 24, + "end_frame": 184, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 184, + "end_frame": 317, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 317, + "end_frame": 468, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 468, + "end_frame": 586, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 25, + "end_frame": 193, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 193, + "end_frame": 324, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 324, + "end_frame": 465, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 465, + "end_frame": 603, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 0, + "end_frame": 210, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 210, + "end_frame": 413, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 413, + "end_frame": 619, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 619, + "end_frame": 891, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 20, + "end_frame": 172, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 172, + "end_frame": 301, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 301, + "end_frame": 461, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 461, + "end_frame": 602, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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": { + "action_config": [ + { + "start_frame": 26, + "end_frame": 190, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 190, + "end_frame": 326, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 326, + "end_frame": 487, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 487, + "end_frame": 759, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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": { + "action_config": [ + { + "start_frame": 23, + "end_frame": 158, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 158, + "end_frame": 277, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 277, + "end_frame": 419, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 419, + "end_frame": 539, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 27, + "end_frame": 182, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 182, + "end_frame": 316, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 316, + "end_frame": 472, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 472, + "end_frame": 706, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 13, + "end_frame": 182, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 182, + "end_frame": 333, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 333, + "end_frame": 502, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 502, + "end_frame": 822, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 25, + "end_frame": 208, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 208, + "end_frame": 363, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 363, + "end_frame": 538, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 538, + "end_frame": 798, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 23, + "end_frame": 174, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 174, + "end_frame": 306, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 306, + "end_frame": 472, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 472, + "end_frame": 779, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 0, + "end_frame": 160, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 160, + "end_frame": 306, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 306, + "end_frame": 469, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 469, + "end_frame": 731, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "episode_id": 1237600, + "task_name": "Discard the trash on the coffee table.", + "init_scene_text": "On the table in front of the robot, there's a desktop trash can, and there are a few pieces of trash on the table.", + "label_info": { + "action_config": [ + { + "start_frame": 24, + "end_frame": 183, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 183, + "end_frame": 322, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 322, + "end_frame": 525, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 525, + "end_frame": 781, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 25, + "end_frame": 254, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 254, + "end_frame": 423, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 423, + "end_frame": 601, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 601, + "end_frame": 876, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 23, + "end_frame": 185, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 185, + "end_frame": 338, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 338, + "end_frame": 514, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 514, + "end_frame": 763, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 24, + "end_frame": 202, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 202, + "end_frame": 353, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 353, + "end_frame": 555, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 555, + "end_frame": 812, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 0, + "end_frame": 183, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 183, + "end_frame": 361, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 361, + "end_frame": 627, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 627, + "end_frame": 920, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 26, + "end_frame": 181, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 181, + "end_frame": 331, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 331, + "end_frame": 501, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 501, + "end_frame": 765, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 155, + "end_frame": 344, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 344, + "end_frame": 483, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 483, + "end_frame": 666, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 666, + "end_frame": 911, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 25, + "end_frame": 201, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 201, + "end_frame": 333, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 333, + "end_frame": 540, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 540, + "end_frame": 823, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 22, + "end_frame": 162, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 162, + "end_frame": 287, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 287, + "end_frame": 450, + "action_text": "Pick up the napkin ball on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 450, + "end_frame": 720, + "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 26, + "end_frame": 213, + "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 213, + "end_frame": 409, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 409, + "end_frame": 568, + "action_text": "Pick up the napkin wad on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 568, + "end_frame": 836, + "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "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" + }, + { + "start_frame": 310, + "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" + }, + { + "start_frame": 312, + "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" + }, + { + "start_frame": 311, + "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, + "end_frame": 722, + "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" + }, + { + "start_frame": 316, + "end_frame": 499, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 499, + "end_frame": 758, + "action_text": "Pick up the snack packaging on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 758, + "end_frame": 1077, + "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, + "end_frame": 305, + "action_text": "Pick up the white coconut water on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 305, + "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": 780, + "action_text": "Pick up the snack packaging bag on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 780, + "end_frame": 1155, + "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, + "end_frame": 310, + "action_text": "Pick up the white coconut water on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 310, + "end_frame": 488, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 488, + "end_frame": 775, + "action_text": "Pick up the empty snack wrapper on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 775, + "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": [ + { + "start_frame": 0, + "end_frame": 324, + "action_text": "Pick up the white coconut water on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 324, + "end_frame": 507, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 507, + "end_frame": 818, + "action_text": "Pick up the snack wrapper on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 818, + "end_frame": 1199, + "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, + "end_frame": 319, + "action_text": "Pick up the white coconut water on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 319, + "end_frame": 488, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 488, + "end_frame": 738, + "action_text": "Pick up the used snack packaging on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 738, + "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": [ + { + "start_frame": 0, + "end_frame": 297, + "action_text": "Pick up the white coconut water on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 297, + "end_frame": 498, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 498, + "end_frame": 760, + "action_text": "Pick up the empty snack wrappers on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 760, + "end_frame": 1131, + "action_text": "Throw the held empty snack wrappers into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 20, + "end_frame": 306, + "action_text": "Pick up the white coconut water on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 306, + "end_frame": 512, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 512, + "end_frame": 763, + "action_text": "Pick up the used snack wrapper on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 763, + "end_frame": 1077, + "action_text": "Throw the held used snack wrapper into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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": [ + { + "start_frame": 0, + "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": 467, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 467, + "end_frame": 737, + "action_text": "Pick up the used snack packaging on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 737, + "end_frame": 1104, + "action_text": "Throw the held used snack packaging into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 0, + "end_frame": 334, + "action_text": "Pick up the white coconut water on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 334, + "end_frame": 513, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 513, + "end_frame": 776, + "action_text": "Pick up the empty snack wrapper on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 776, + "end_frame": 1119, + "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": [ + { + "start_frame": 0, + "end_frame": 349, + "action_text": "Pick up the used snack wrapper on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 349, + "end_frame": 592, + "action_text": "Throw the held used snack wrapper into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 592, + "end_frame": 912, + "action_text": "Pick up the white coconut water on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 912, + "end_frame": 1199, + "action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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, + "end_frame": 294, + "action_text": "Pick up the snack wrapper on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 294, + "end_frame": 504, + "action_text": "Throw the held snack wrapper into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 504, + "end_frame": 755, + "action_text": "Pick up the white coconut water on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 755, + "end_frame": 1097, + "action_text": "Throw the held white coconut water into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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": [ + { + "start_frame": 0, + "end_frame": 313, + "action_text": "Pick up the empty snack wrappers on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 313, + "end_frame": 606, + "action_text": "Throw the held empty snack wrappers into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 606, + "end_frame": 918, + "action_text": "Pick up the white coconut water on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 918, + "end_frame": 1199, + "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": [ + { + "start_frame": 0, + "end_frame": 336, + "action_text": "Pick up the white coconut water on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 336, + "end_frame": 529, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 529, + "end_frame": 784, + "action_text": "Pick up the snack packaging bag on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 784, + "end_frame": 1129, + "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, + "end_frame": 295, + "action_text": "Pick up the white coconut water on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 295, + "end_frame": 453, + "action_text": "Throw the held white coconut water into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 453, + "end_frame": 711, + "action_text": "Pick up the snack packaging on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 711, + "end_frame": 1048, + "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.", + "skill": "Pick" + }, + { + "start_frame": 349, + "end_frame": 612, + "action_text": "Throw the held used snack packaging into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 612, + "end_frame": 896, + "action_text": "Pick up the white coconut water on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 896, + "end_frame": 1199, + "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, + "end_frame": 272, + "action_text": "Pick up the snack packaging bag on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 272, + "end_frame": 513, + "action_text": "Throw the held snack packaging bag into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 513, + "end_frame": 761, + "action_text": "Pick up the white coconut water on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 761, + "end_frame": 1078, + "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, + "end_frame": 297, + "action_text": "Pick up the empty snack wrappers on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 297, + "end_frame": 547, + "action_text": "Throw the held empty snack wrappers into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 547, + "end_frame": 818, + "action_text": "Pick up the white coconut water on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 818, + "end_frame": 1169, + "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.", + "skill": "Pick" + }, + { + "start_frame": 314, + "end_frame": 563, + "action_text": "Throw the held empty snack wrapper into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 563, + "end_frame": 806, + "action_text": "Pick up the white coconut water on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 806, + "end_frame": 1140, + "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, + "end_frame": 239, + "action_text": "Pick up the snack wrapper on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 239, + "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": 721, + "action_text": "Pick up the white coconut water on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 721, + "end_frame": 1062, + "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.", + "skill": "Pick" + }, + { + "start_frame": 294, + "end_frame": 498, + "action_text": "Throw the held snack packaging into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 498, + "end_frame": 738, + "action_text": "Pick up the white coconut water on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 738, + "end_frame": 1044, + "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" + }, + { + "start_frame": 294, + "end_frame": 513, + "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" + }, + { + "start_frame": 408, + "end_frame": 571, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 571, + "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.", + "skill": "Pick" + }, + { + "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" + }, + { + "start_frame": 322, + "end_frame": 492, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 492, + "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.", + "skill": "Pick" + }, + { + "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" + }, + { + "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" + }, + { + "start_frame": 304, + "end_frame": 451, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 451, + "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, + "end_frame": 203, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 203, + "end_frame": 351, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 351, + "end_frame": 504, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 504, + "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, + "end_frame": 171, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 171, + "end_frame": 291, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 291, + "end_frame": 451, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 451, + "end_frame": 599, + "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, + "end_frame": 228, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 228, + "end_frame": 373, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 373, + "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": 841, + "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, + "end_frame": 183, + "action_text": "Pick up the napkin ball on the desktop with the left arm.", + "skill": "Pick" + }, + { + "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" + }, + { + "start_frame": 307, + "end_frame": 468, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 468, + "end_frame": 792, + "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" + }, + { + "start_frame": 186, + "end_frame": 360, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 360, + "end_frame": 583, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 583, + "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" + }, + { + "start_frame": 190, + "end_frame": 374, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 374, + "end_frame": 571, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 571, + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 22, + "end_frame": 182, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 182, + "end_frame": 316, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 316, + "end_frame": 534, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 534, + "end_frame": 953, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 29, + "end_frame": 185, + "action_text": "Pick up the napkin ball on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 185, + "end_frame": 339, + "action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 339, + "end_frame": 525, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 525, + "end_frame": 855, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 25, + "end_frame": 241, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 241, + "end_frame": 421, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 421, + "end_frame": 618, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 618, + "end_frame": 1067, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 24, + "end_frame": 166, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 166, + "end_frame": 295, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 295, + "end_frame": 433, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 433, + "end_frame": 676, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 30, + "end_frame": 211, + "action_text": "Pick up the napkin ball on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 211, + "end_frame": 431, + "action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 431, + "end_frame": 620, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 620, + "end_frame": 901, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 19, + "end_frame": 187, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 187, + "end_frame": 371, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 371, + "end_frame": 558, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 558, + "end_frame": 855, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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": [ + { + "start_frame": 24, + "end_frame": 238, + "action_text": "Pick up the napkin ball on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 238, + "end_frame": 401, + "action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 401, + "end_frame": 599, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 599, + "end_frame": 927, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 0, + "end_frame": 217, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 217, + "end_frame": 437, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 437, + "end_frame": 779, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 779, + "end_frame": 1054, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 0, + "end_frame": 180, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 180, + "end_frame": 389, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 389, + "end_frame": 573, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 573, + "end_frame": 861, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 27, + "end_frame": 221, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 221, + "end_frame": 387, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 387, + "end_frame": 581, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 581, + "end_frame": 870, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 18, + "end_frame": 190, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 190, + "end_frame": 352, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 352, + "end_frame": 537, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 537, + "end_frame": 906, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 0, + "end_frame": 204, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 204, + "end_frame": 414, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 414, + "end_frame": 612, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 612, + "end_frame": 955, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 0, + "end_frame": 204, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 204, + "end_frame": 353, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 353, + "end_frame": 523, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 523, + "end_frame": 840, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 25, + "end_frame": 192, + "action_text": "Pick up the napkin wad on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 192, + "end_frame": 383, + "action_text": "Throw the held napkin wad into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 383, + "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": 884, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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.", + "label_info": { + "action_config": [ + { + "start_frame": 23, + "end_frame": 182, + "action_text": "Pick up the napkin ball on the desktop with the left arm.", + "skill": "Pick" + }, + { + "start_frame": 182, + "end_frame": 358, + "action_text": "Throw the held napkin ball into the trash can on the desk with the left arm.", + "skill": "Place" + }, + { + "start_frame": 358, + "end_frame": 521, + "action_text": "Pick up the yellow energy drink can on the desktop with the right arm.", + "skill": "Pick" + }, + { + "start_frame": 521, + "end_frame": 877, + "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the right arm.", + "skill": "Place" + } + ] + } + }, + { + "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" + } + ] + } + } +] \ No newline at end of file