[ { "episode_id": 1237093, "task_name": "Discard the trash on the coffee table.", "init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of garbage on the table.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 152, "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", "skill": "Pick" }, { "start_frame": 152, "end_frame": 294, "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", "skill": "Place" }, { "start_frame": 294, "end_frame": 437, "action_text": "Pick up the napkin ball on the desktop with the right arm.", "skill": "Pick" }, { "start_frame": 437, "end_frame": 568, "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", "skill": "Place" } ] } }, { "episode_id": 1237026, "task_name": "Discard the trash on the coffee table.", "init_scene_text": "There is a desktop trash can on the table in front of the robot, along with several pieces of trash on the table.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 225, "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", "skill": "Pick" }, { "start_frame": 225, "end_frame": 369, "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", "skill": "Place" }, { "start_frame": 369, "end_frame": 540, "action_text": "Pick up the napkin wad on the desktop with the right arm.", "skill": "Pick" }, { "start_frame": 540, "end_frame": 735, "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", "skill": "Place" } ] } }, { "episode_id": 1237098, "task_name": "Discard the trash on the coffee table.", "init_scene_text": "There is a desktop trash can on the table in front of the robot, along with a few pieces of trash.", "label_info": { "action_config": [ { "start_frame": 19, "end_frame": 154, "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", "skill": "Pick" }, { "start_frame": 154, "end_frame": 265, "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", "skill": "Place" }, { "start_frame": 265, "end_frame": 419, "action_text": "Pick up the napkin ball on the desktop with the right arm.", "skill": "Pick" }, { "start_frame": 419, "end_frame": 542, "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", "skill": "Place" } ] } }, { "episode_id": 1237080, "task_name": "Discard the trash on the coffee table.", "init_scene_text": "There is a desktop trash can on the table in front of the robot, with several pieces of trash lying on the table.", "label_info": { "action_config": [ { "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": 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": 468, "action_text": "Pick up the napkin wad on the desktop with the right arm.", "skill": "Pick" }, { "start_frame": 468, "end_frame": 616, "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", "skill": "Place" } ] } }, { "episode_id": 1237102, "task_name": "Discard the trash on the coffee table.", "init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash scattered around it.", "label_info": { "action_config": [ { "start_frame": 16, "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": 274, "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", "skill": "Place" }, { "start_frame": 274, "end_frame": 419, "action_text": "Pick up the napkin wad on the desktop with the right arm.", "skill": "Pick" }, { "start_frame": 419, "end_frame": 555, "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", "skill": "Place" } ] } }, { "episode_id": 1237063, "task_name": "Discard the trash on the coffee table.", "init_scene_text": "On the table in front of the robot sits a desktop trash can, and there are a few pieces of trash on the table.", "label_info": { "action_config": [ { "start_frame": 30, "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": 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": 459, "action_text": "Pick up the napkin wad on the desktop with the right arm.", "skill": "Pick" }, { "start_frame": 459, "end_frame": 630, "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", "skill": "Place" } ] } }, { "episode_id": 1237074, "task_name": "Discard the trash on the coffee table.", "init_scene_text": "A desktop trash bin is placed on the table in front of the robot, with several pieces of trash lying on the table.", "label_info": { "action_config": [ { "start_frame": 22, "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": 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": 435, "action_text": "Pick up the napkin wad on the desktop with the right arm.", "skill": "Pick" }, { "start_frame": 435, "end_frame": 575, "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", "skill": "Place" } ] } }, { "episode_id": 1237088, "task_name": "Discard the trash on the coffee table.", "init_scene_text": "On the table in front of the robot sits a desktop trash can, with several pieces of trash scattered on the table.", "label_info": { "action_config": [ { "start_frame": 25, "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": 273, "action_text": "Throw the held yellow energy drink can 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 arm.", "skill": "Pick" }, { "start_frame": 211, "end_frame": 349, "action_text": "Throw the held yellow energy drink can into the trash can on the desk with the left arm.", "skill": "Place" }, { "start_frame": 349, "end_frame": 492, "action_text": "Pick up the napkin wad on the desktop with the right arm.", "skill": "Pick" }, { "start_frame": 492, "end_frame": 628, "action_text": "Throw the held napkin wad into the trash can on the desk with the right arm.", "skill": "Place" } ] } }, { "episode_id": 1237164, "task_name": "Discard the trash on the coffee table.", "init_scene_text": "On the table in front of the robot sits a desktop trash bin, with several pieces of trash scattered across the table surface.", "label_info": { "action_config": [ { "start_frame": 24, "end_frame": 178, "action_text": "Pick up the yellow energy drink can on the desktop with the left arm.", "skill": "Pick" }, { "start_frame": 178, "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 into the trash can on the desk with the left arm.", "skill": "Place" }, { "start_frame": 301, "end_frame": 439, "action_text": "Pick up the napkin ball on the desktop with the right arm.", "skill": "Pick" }, { "start_frame": 439, "end_frame": 576, "action_text": "Throw the held napkin ball into the trash can on the desk with the right arm.", "skill": "Place" } ] } }, { "episode_id": 1237171, "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 surface.", "label_info": { "action_config": [ { "start_frame": 23, "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": 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": 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" } ] } } ]