felsager/smolvla_base_ee_rel_labelfix

Model Card for smolvla

SmolVLA is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware.

This policy has been trained and pushed to the Hub using LeRobot.

Learn how to train and run it in the LeRobot smolvla guide, or browse the full documentation.

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Model Details

• License: apache-2.0
• Fine-tuned from: lerobot/smolvla_base
• Robot type: so100_so101_ee
• Cameras: top, wrist, side

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
observation.images.top	VISUAL	(3, 480, 640)
observation.images.wrist	VISUAL	(3, 480, 640)
observation.images.side	VISUAL	(3, 480, 640)
observation.state	STATE	(10,)
observation.images.top_padding_mask	STATE	(1,)
observation.images.wrist_padding_mask	STATE	(1,)
observation.images.side_padding_mask	STATE	(1,)

Outputs

Feature	Type	Shape
action	ACTION	(10,)

Training Dataset

• Repository: felsager/community_dataset_v3_ee_smolvla
• Episodes: 36057
• Frames: 18812021
• Frame rate: 30 FPS
• Task(s): "Grasp a battery and put it in the bin.", "Grasp a battery and place it in the bin.", "Pick up the battery and place it in the bin.", "Pick up a battery and put it into the bin.", "Pick up the shuttlecock and place it in the cardboard box.", "Grab the shuttlecock and place it into the cardboard box.", "Grasp the shuttlecock and put it in the cardboard box.", "Pick up the shuttlecock and put it into the cardboard box.", "Pick up the red cube and place it on the red block.", "Pick up a red cube and place it onto the red block.", "Take a red cube and place it on the red block.", "Pick up the red cube and put it on the red block.", "Pick up the light blue cube and place it on the light blue block.", "Pick up a light blue cube and put it onto the light blue block.", "Pick up a light blue cube and place it onto the light blue block.", "Take the light blue cube and put it on the light blue block.", "Pick up the green cube and place it on the green block.", "Pick up the green cube and place it onto the green block.", "Grasp a green cube and put it onto the green block.", "Grasp the green cube and place it on the green block.", "Pick up the small green object and place it in the cardboard box.", "Take a small green object and put it in the cardboard box.", "Grab a small green object and put it into the cardboard box.", "Grasp the small green object and place it into the cardboard box.", "Grasp tool and reposition duck.", "Grasp the tool and use it to reposition the duck.", "Pick up the tool and move the duck with it.", "Use the tool to reposition the duck.", "Pick nuts and sort by color.", "Pick up the nuts and sort them by color.", "Sort the nuts by color.", "Grasp the nuts and group them by color.", "Pick up nut and put it in the circle.", "Take nut and put it into the circle.", "Pick up nut and place it in the circle.", "Pick up nut and place it into the circle.", "Pick up nut and drop in cup.", "Grasp nut and put it into cup.", "Grab nut and place it in cup.", "Grasp nut and place it in cup.", "Grasp rope and reposition.", "Grasp the rope and reposition it.", "Pick up the rope and move it to a new position.", "Take the rope and reposition it.", "Move the white rook to D4 on the chessboard.", "Move the white rook to square D4.", "Put the white rook on D4.", "Play the white rook to D4 on the chessboard.", "Pour water from the bottle into the paper cup.", "Pour the water from the bottle into the paper cup.", "Fill the paper cup with water from the bottle.", "Use the bottle to pour water into the paper cup.", "Pick up biomedical waster and put it in the respective bin.", "Put biomedical waster in the respective bin.", "Take biomedical waster and place it in the respective bin.", "Take biomedical waster and put it in the respective bin.", "Grasp a medical waste and put it in the bin.", "Pick up a medical waste and place it in the bin.", "Pick up the medical waste and put it into the bin.", "Take a medical waste and put it in the bin.", "Grasp a lego toy and put it in the bin.", "Grab a lego toy and put it into the bin.", "Pick up the lego toy and put it in the bin.", "Pick up a lego toy and put it in the bin.", "Pick up the blue and red cubes and place them in the cardboard tray.", "Pick up the blue and red cubes and put them in the cardboard tray.", "Grab the blue and red cubes and put them in the cardboard tray.", "Grasp the blue and red cubes and place them into the cardboard tray.", "Pick up the colored cubes and place them in the cardboard tray.", "Grasp the colored cubes and put them into the cardboard tray.", "Take the colored cubes and put them in the cardboard tray.", "Pick up the colored cubes and put them in the cardboard tray.", "Pick up the green lego block and place it on the white disc.", "Pick up a green lego block and place it onto the white disc.", "Grab a green lego block and place it onto the white disc.", "Grab a green lego block and put it onto the white disc.", "Stack the balls on top of each other.", "Stack the balls on each other.", "Put the balls on top of each other.", "Place the balls on top of each other.", "Pick up the six-sided die and place it fully inside the red circle.", "Grasp the six-sided die and put it fully inside the red circle.", "Take the six-sided die and place it entirely inside the red circle.", "Move the six-sided die fully inside the red circle.", "Grasp a dice and put it in a circle.", "Take a dice and place it in a circle.", "Pick up the dice and place it into a circle.", "Grab a dice and place it into a circle.", "Grasp a mini cookies block and put it in the white box.", "Pick up a mini cookies block and place it into the white box.", "Pick up the mini cookies block and put it into the white box.", "Pick up the mini cookies block and place it into the white box.", "Pick up the roll of tape and place it inside the black circle.", "Put the roll of tape inside the black circle.", "Take a roll of tape and place it inside the black circle.", "Grab a roll of tape and place it inside the black circle.", "Pick up the small white object and place it in the cardboard box.", "Take a small white object and put it into the cardboard box.", "Grab a small white object and put it into the cardboard box.", "Take a small white object and place it into the cardboard box.", "Stack the paper cups on the orange circle.", "Put the paper cups on top of the orange circle.", "Place the paper cups on top of the orange circle.", "Grab a bottle of soybeans and pour it into this cup.", "Pick up the bottle of soybeans and pour it into the cup.", "Pour the bottle of soybeans into this cup.", "Grasp a bottle of soybeans and empty it into this cup.", "Grasp a clip and put it in the bin.", "Grab a clip and place it in the bin.", "Grab a clip and place it into the bin.", "Grab a clip and put it in the bin.", "Grasp the block and drop it in the designated area.", "Grasp a block and put it into the designated area.", "Take the block and place it in the designated area.", "Take a block and place it into the designated area.", "Grasp the block and place it in the designated area.", "Grasp a block and place it in the designated area.", "Take a block and place it in the designated area.", "Grab the block and place it in the designated area.", "Grasp a block and put it in the designated area.", "Take the block and put it in the designated area.", "Grab the block and put it in the designated area.", "Put a block in the designated area.", "Pick up the orange cylinder and place it in the circular cutout.", "Grab an orange cylinder and place it in the circular cutout.", "Take the orange cylinder and place it in the circular cutout.", "Take the orange cylinder and place it into the circular cutout.", "Pick up the blue object and place it inside the yellow square.", "Grasp the blue object and place it inside the yellow square.", "Grasp the blue object and put it inside the yellow square.", "Take a blue object and put it inside the yellow square.", "Pick up and place at grid spot 1.", "Put and at grid spot 1.", "Grasp and and put it at grid spot 1.", "Grab and and place it at grid spot 1.", "Pick up and place in grid spot 1.", "Put and in grid spot 1.", "Pick up and and put it in grid spot 1.", "Pick up and and place it in grid spot 1.", "Pick up and place at grid spot 2.", "Take and and place it at grid spot 2.", "Grab and and put it at grid spot 2.", "Put and at grid spot 2.", "Pick up and place at grid spot 3.", "Grab and and put it at grid spot 3.", "Take and and place it at grid spot 3.", "Pick up and and place it at grid spot 3.", "Pick up and place at grid spot 4.", "Grasp and and place it at grid spot 4.", "Grasp and and put it at grid spot 4.", "Pick up and and place it at grid spot 4.", "Pick up and place in grid spot 5.", "Grasp and and place it in grid spot 5.", "Grab and and put it in grid spot 5.", "Put and in grid spot 5.", "Pick up and place in grid spot 6.", "Pick up and and put it in grid spot 6.", "Put and in grid spot 6.", "Take and and place it in grid spot 6.", "Pick up and place in grid spot 7.", "Grasp and and place it in grid spot 7.", "Grab and and put it in grid spot 7.", "Pick up and and put it in grid spot 7.", "Pick up and place in grid spot 8.", "Pick up and and put it in grid spot 8.", "Grasp and and put it in grid spot 8.", "Grasp and and place it in grid spot 8.", "Pick up and place in grid spot 9.", "Grab and and put it in grid spot 9.", "Pick up and and place it in grid spot 9.", "Grab and and place it in grid spot 9.", "Pick up and place at grid spot 5.", "Take and and put it at grid spot 5.", "Grasp and and put it at grid spot 5.", "Grab and and put it at grid spot 5.", "Pick up and place at grid spot 6.", "Pick up and and put it at grid spot 6.", "Put and at grid spot 6.", "Grab and and place it at grid spot 6.", "Pick up and place at grid spot 7.", "Grab and and place it at grid spot 7.", "Grab and and put it at grid spot 7.", "Pick up and and put it at grid spot 7.", "Pick up and place at grid spot 8.", "Take and and put it at grid spot 8.", "Grab and and place it at grid spot 8.", "Take and and place it at grid spot 8.", "Pick up the cup and place it on the shape that matches its marking.", "Grab a cup and place it on the shape that matches its marking.", "Grab the cup and place it onto the shape that matches its marking.", "Take the cup and put it onto the shape that matches its marking.", "Pick up the die and place it on the plate.", "Grasp a die and place it onto the plate.", "Grab a die and place it onto the plate.", "Grab the die and place it on the plate.", "Grasp a tape and put it in the bin.", "Take the tape and put it in the bin.", "Put a tape in the bin.", "Put the tape in the bin.", "Pick the yellow lemon and drop it in the red bowl.", "Grasp the yellow lemon and put it into the red bowl.", "Put a yellow lemon in the red bowl.", "Grasp the yellow lemon and place it into the red bowl.", "Pick up the green cube and stack it on the blue cube.", "Take a green cube and put it onto the blue cube.", "Pick up a green cube and place it on the blue cube.", "Take a green cube and place it onto the blue cube.", "Sweep the red cubes to the right with the tissue bag.", "Use the tissue bag to sweep the red cubes to the right.", "Push the red cubes to the right with the tissue bag.", "Sweep the red cubes right using the tissue bag.", "Pick up the cube and place it in the grey container.", "Pick up a cube and put it in the grey container.", "Put the cube in the grey container.", "Take the cube and put it in the grey container.", "Pick up red ball and place in grey container.", "Grab red ball and place it into grey container.", "Take red ball and place it in grey container.", "Pick up red ball and put it in grey container.", "Pick up the lip balm and place it in the white cup.", "Put a lip balm in the white cup.", "Grab the lip balm and put it in the white cup.", "Put the lip balm in the white cup.", "Pick up the bottle caps and place them in the paper cup.", "Take the bottle caps and place them into the paper cup.", "Take the bottle caps and put them into the paper cup.", "Grab the bottle caps and put them into the paper cup.", "Pick up the red bottle cap and place it in the paper cup.", "Grab a red bottle cap and put it into the paper cup.", "Take a red bottle cap and place it into the paper cup.", "Grab the red bottle cap and place it in the paper cup.", "Pick up the two bottle caps and place them in the cup.", "Grasp the two bottle caps and put them in the cup.", "Grab the two bottle caps and put them into the cup.", "Take the two bottle caps and place them into the cup.", "Move the blue chess pieces as indicated by the highlighted squares.", "Move the blue chess pieces as shown by the highlighted squares.", "Make the move marked by the highlighted squares with the blue chess pieces.", "Follow the highlighted squares and move the blue chess pieces.", "Press the A (LA) key on the piano keyboard.", "Press the A key on the piano.", "Play the A (LA) note on the piano keyboard.", "Press the piano key A (LA).", "Press every key on the piano keyboard in order.", "Press all the piano keys in order.", "Play every key of the piano keyboard in order.", "Grasp the blue bottle onto the wooden plate.", "Pick up a blue bottle onto the wooden plate.", "Take a blue bottle onto the wooden plate.", "Take the blue bottle onto the wooden plate.", "Grasp the bottle onto the wooden plate.", "Take a bottle onto the wooden plate.", "Grasp a bottle onto the wooden plate.", "Grab the bottle onto the wooden plate.", "Move the chess piece as indicated by the highlighted squares.", "Move the chess piece as shown by the highlighted squares.", "Make the chess move marked by the highlighted squares.", "Follow the highlighted squares and move the chess piece.", "Make a chess move.", "Play a chess move.", "Move a chess piece.", "Make a move on the chessboard.", "Take a tea bag from the box and put it in the mug.", "Grasp the tea bag from the box and place it into the mug.", "Grasp the tea bag from the box and put it in the mug.", "Take the tea bag from the box and place it into the mug.", "Grasp a wooden block and put it in the pot.", "Pick up a wooden block and put it in the pot.", "Grab the wooden block and place it into the pot.", "Grab the wooden block and place it in the pot.", "Grasp a banana and put it on a drawing.", "Grab the banana and put it on a drawing.", "Pick up the banana and put it on a drawing.", "Take the banana and put it on a drawing.", "Grasp the red stick put it in the bin.", "Grasp the red stick and put it into the bin.", "Take the red stick and put it in the bin.", "Take the red stick and place it into the bin.", "Pick up the servo box and place it on the round plate.", "Pick up a servo box and put it onto the round plate.", "Take a servo box and place it on the round plate.", "Pick up the servo box and put it on the round plate.", "Grasp a yellow block and put it into the box.", "Grab a yellow block and place it into the box.", "Grasp a yellow block and place it in the box.", "Take a yellow block and put it into the box.", "Pick up the 2x2 red block and go up the 8x8 blue block.", "Pick up the 2x2 red block and put it on the 8x8 blue block.", "Grasp the 2x2 red block and place it on top of the 8x8 blue block.", "Take the 2x2 red block and attach it to the 8x8 blue block.", "Pick up the 2x2 green block and go up the 8x8 blue block.", "Pick up the 2x2 green block and put it on the 8x8 blue block.", "Grasp the 2x2 green block and place it on top of the 8x8 blue block.", "Take the 2x2 green block and attach it to the 8x8 blue block.", "Pick up the 2x2 yellow block and go up the 8x8 blue block.", "Pick up the 2x2 yellow block and put it on the 8x8 blue block.", "Grasp the 2x2 yellow block and place it on top of the 8x8 blue block.", "Take the 2x2 yellow block and attach it to the 8x8 blue block.", "Pick up the 2x2 orange block and go up the 8x8 blue block.", "Pick up the 2x2 orange block and put it on the 8x8 blue block.", "Grasp the 2x2 orange block and place it on top of the 8x8 blue block.", "Take the 2x2 orange block and attach it to the 8x8 blue block.", "Pick up the 2x4 orange block and go up the 8x8 blue block.", "Pick up the 2x4 orange block and put it on the 8x8 blue block.", "Grasp the 2x4 orange block and place it on top of the 8x8 blue block.", "Take the 2x4 orange block and attach it to the 8x8 blue block.", "Pick up the 2x4 green block and go up the 8x8 blue block.", "Pick up the 2x4 green block and put it on the 8x8 blue block.", "Grasp the 2x4 green block and place it on top of the 8x8 blue block.", "Take the 2x4 green block and attach it to the 8x8 blue block.", "Grasp the pink cuboid and put it in the bin.", "Grab a pink cuboid and put it into the bin.", "Grasp the pink cuboid and place it into the bin.", "Take the pink cuboid and put it into the bin.", "Grasp the yellow cuboid and put it in the bin.", "Pick up the yellow cuboid and put it in the bin.", "Take the yellow cuboid and place it into the bin.", "Put the yellow cuboid in the bin.", "Grasp the cube and put it to grid 4.", "Grasp the cube and place it to grid 4.", "Take a cube and put it to grid 4.", "Take the cube and put it to grid 4.", "Pick up the small gray object and place it in the white box.", "Pick up a small gray object and put it in the white box.", "Grab a small gray object and put it into the white box.", "Grab the small gray object and put it into the white box.", "Grasp the green cube and put it in the bin.", "Take the green cube and place it in the bin.", "Put the green cube in the bin.", "Take the green cube and put it into the bin.", "Grasp the cube and put it to grid 1.", "Grasp a cube and place it to grid 1.", "Grab the cube and put it to grid 1.", "Grab the cube and place it to grid 1.", "Grasp the cube and put it to grid 2.", "Pick up the cube and put it to grid 2.", "Grab the cube and put it to grid 2.", "Take the cube and put it to grid 2.", "Grasp the cube and put it to grid 5.", "Put a cube to grid 5.", "Take the cube and put it to grid 5.", "Grab a cube and place it to grid 5.", "Grasp the cube and put it to grid 6.", "Grab the cube and place it to grid 6.", "Grab a cube and place it to grid 6.", "Take the cube and put it to grid 6.", "Grasp the cube and put it to grid 7.", "Take a cube and put it to grid 7.", "Grasp a cube and put it to grid 7.", "Grasp the cube and place it to grid 7.", "Grasp the cube and put it to grid 8.", "Grasp the cube and place it to grid 8.", "Grab the cube and place it to grid 8.", "Grab a cube and put it to grid 8.", "Grasp the cube and put it to grid 9.", "Grab a cube and put it to grid 9.", "Grab a cube and place it to grid 9.", "Grasp a cube and place it to grid 9.", "Grasp the cube and put it to grid 3.", "Take a cube and place it to grid 3.", "Put the cube to grid 3.", "Grab the cube and put it to grid 3.", "Pick up the small black object and place it in the white box.", "Pick up the small black object and place it into the white box.", "Grab the small black object and place it in the white box.", "Grasp a small black object and put it in the white box.", "Pick up the number 5 piece and place it on the yellow plate.", "Take the number 5 piece and place it on the yellow plate.", "Pick up a number 5 piece and put it on the yellow plate.", "Take the number 5 piece and put it on the yellow plate.", "Pick up the Squirtle plush toy and hold it close to the robot.", "Grasp the Squirtle plush toy and keep it close to the robot.", "Pick up the Squirtle plush and hold it near the robot.", "Take the Squirtle plush toy and hold it close.", "Pick up the charger and put it on the white tissue.", "Pick up a charger and place it on the white tissue.", "Grasp the charger and place it onto the white tissue.", "Grasp the charger and place it on the white tissue.", "Pick up the red cube and put it in the box.", "Pick up a red cube and put it into the box.", "Grasp the red cube and put it into the box.", "Grab a red cube and put it in the box.", "Pick up the red cube and stack it on the yellow cube.", "Grasp a red cube and place it onto the yellow cube.", "Pick up a red cube and put it on the yellow cube.", "Take a red cube and place it onto the yellow cube.", "Pick up the blue cube and place it in the cardboard box.", "Grab the blue cube and place it into the cardboard box.", "Pick up the blue cube and place it into the cardboard box.", "Take the blue cube and put it in the cardboard box.", "Pick up the red cube and stack it on the green cube.", "Pick up the red cube and place it on the green cube.", "Pick up the red cube and place it onto the green cube.", "Grasp a red cube and place it on the green cube.", "Grasp a pen and move it to a new platform.", "Grasp the pen and put it to a new platform.", "Grasp a pen and put it to a new platform.", "Put the pen to a new platform.", "Pick up the black trash and put it in the paper cup.", "Grab a black trash and put it in the paper cup.", "Grab a black trash and place it into the paper cup.", "Grasp the black trash and place it in the paper cup.", "Pick up the teal cylinder and place it in the cardboard box.", "Take the teal cylinder and place it into the cardboard box.", "Grab a teal cylinder and place it into the cardboard box.", "Grab the teal cylinder and put it into the cardboard box.", "Grasp a medic box and put it in the bin.", "Grasp a medic box and place it in the bin.", "Put a medic box in the bin.", "Grasp the medic box and place it in the bin.", "Grasp a yellow box and put it in the bin.", "Grab the yellow box and place it in the bin.", "Grab a yellow box and place it in the bin.", "Grasp the yellow box and place it in the bin.", "Grasp a box and put it in the bin.", "Put a box in the bin.", "Pick up a box and put it in the bin.", "Take the box and put it into the bin.", "Grasp a red duck and put it in the bin.", "Grasp a red duck and place it into the bin.", "Grab a red duck and place it in the bin.", "Grab the red duck and place it in the bin.", "Pick up the red block and place it in the black bowl.", "Take the red block and place it in the black bowl.", "Grasp the red block and put it into the black bowl.", "Grasp the red block and put it in the black bowl.", "Put the lego brick into the bin of the same color.", "Put a lego brick into the bin of the same color.", "Place a lego brick in the bin of the same color.", "Pick up the lego brick and put it into the bin of the same color.", "Grasp a lego and put it in the bin.", "Pick up the lego and put it into the bin.", "Grasp a lego and place it in the bin.", "Grab a lego and put it into the bin.", "Pick up the grey part and return to the rest position.", "Grasp the grey part and go back to the rest position.", "Take the grey part, then return to the rest position.", "Pick up the grey part and move back to the rest position.", "Grasp candy to circle.", "Grab candy to circle.", "Pick up candy to circle.", "Take candy to circle.", "Pick up the candy and place it inside the black circle.", "Pick up a candy and put it inside the black circle.", "Grasp a candy and place it inside the black circle.", "Grasp a candy and put it inside the black circle.", "Pick the gray block and keep it in the box.", "Pick up the gray block and put it in the box.", "Grasp the gray block and place it in the box.", "Take the gray block and leave it in the box.", "Grasp the gray block and put it in the box.", "Grab a gray block and place it in the box.", "Take the gray block and put it into the box.", "Grab a gray block and put it into the box.", "Pick up the pink cube and place it on the black dot inside the square.", "Take a pink cube and place it onto the black dot inside the square.", "Take a pink cube and put it on the black dot inside the square.", "Grasp the pink cube and place it onto the black dot inside the square.", "Grasp a pen and put it in the box.", "Put the pen in the box.", "Take the pen and put it into the box.", "Grasp the pen and place it in the box.", "Grasp the cup and put it in the center of the table.", "Take a cup and place it in the center of the table.", "Grasp a cup and put it in the center of the table.", "Take the cup and place it in the center of the table.", "Grasp the cup and put it on the right side of the table.", "Pick up the cup and place it on the right side of the table.", "Put the cup on the right side of the table.", "Grasp a cup and put it on the right side of the table.", "Push the valve with the cup.", "Use the cup to push the valve.", "Press the valve with the cup.", "Push on the valve using the cup.", "Pick up the green block and place it inside the black ring.", "Grasp a green block and put it inside the black ring.", "Take a green block and put it inside the black ring.", "Take the green block and put it inside the black ring.", "Grasp the tape and put it to placement 4.", "Put the tape to placement 4.", "Pick up a tape and place it to placement 4.", "Take the tape and place it to placement 4.", "Grasp a block and put it in the box.", "Grasp a block and put it into the box.", "Grasp a block and place it into the box.", "Take the block and put it into the box.", "Grasp a metal block and put it in the box.", "Pick up a metal block and place it in the box.", "Take the metal block and place it in the box.", "Grasp the metal block and place it in the box.", "Pick up the pen and place it in the cup.", "Grab the pen and place it in the cup.", "Grab a pen and put it into the cup.", "Grasp a pen and put it into the cup.", "Please take one of the plates.", "Take one of the plates, please.", "Pick up one of the plates.", "Could you take one of the plates?", "Please give me two plates.", "Hand me two plates, please.", "Give me two plates.", "Could you give me two plates?", "Could you take three plates?", "Please take three plates.", "Take three plates.", "Can you pick up three plates?", "Would you please take all the plates for me?", "Please take all the plates.", "Take all the plates for me.", "Could you pick up all the plates for me?", "Can you put the plate away?", "Please put the plate away.", "Put the plate away.", "Could you put away the plate?", "Grab the qbotic and place it in the box.", "Grasp the qbotic and place it into the box.", "Take a qbotic and put it into the box.", "Grab the qbotic and place it into the box.", "Sort rubbish by color.", "Sort the rubbish by color.", "Sort the trash by color.", "Separate the rubbish by color.", "Pick up a french fry from the fries box.", "Take the french fry from the fries box.", "Grasp a french fry from the fries box.", "Pick up the french fry from the fries box.", "Pick up the golf ball and place it on the gray mark at the back.", "Grasp a golf ball and place it onto the gray mark at the back.", "Grab a golf ball and place it onto the gray mark at the back.", "Put the golf ball on the gray mark at the back.", "Grasp a coca and flip.", "Grasp the Coca-Cola can and flip it.", "Pick up the coca and flip it over.", "Grab the coca can and turn it upside down.", "Grasp red, green, yellow ducks and put them in the box.", "Take red, green, yellow ducks and put them into the box.", "Grab red, green, yellow ducks and put them into the box.", "Pick up red, green, yellow ducks and place them in the box.", "Grasp a duck and put it in the bin.", "Pick up the duck and put it into the bin.", "Pick up a duck and place it into the bin.", "Take the duck and place it into the bin.", "Pick up the dark gray object and place it in the cardboard box.", "Grab a dark gray object and put it into the cardboard box.", "Take a dark gray object and place it into the cardboard box.", "Grasp the dark gray object and place it into the cardboard box.", "Pick up the black cube and place it in the gray box.", "Take a black cube and put it into the gray box.", "Grab the black cube and put it in the gray box.", "Pick up a black cube and place it in the gray box.", "Pick up the red cube and place it in the cardboard box.", "Grasp a red cube and put it into the cardboard box.", "Grasp a red cube and put it in the cardboard box.", "Grasp the red cube and put it into the cardboard box.", "Pick up the green cube and place it on the white plate.", "Grab the green cube and place it onto the white plate.", "Grasp the green cube and put it on the white plate.", "Grab a green cube and place it on the white plate.", "Put a box in another box.", "Place a box into another box.", "Grasp a box and place it into another box.", "Grasp the box and place it into another box.", "Pick up the red lego brick and place it in the metal bowl.", "Pick up a red lego brick and put it in the metal bowl.", "Take the red lego brick and place it into the metal bowl.", "Grab the red lego brick and put it into the metal bowl.", "Pick up the yellow earplug and place it in the red cup.", "Pick up a yellow earplug and put it into the red cup.", "Grasp the yellow earplug and put it into the red cup.", "Pick up the yellow earplug and put it in the red cup.", "Put banana in the red bowl.", "Grasp banana and place it into the red bowl.", "Place banana into the red bowl.", "Pick up banana and put it in the red bowl.", "Put the banana in the red bowl.", "Grasp the banana and place it into the red bowl.", "Grasp a banana and place it into the red bowl.", "Pick up the banana and put it in the red bowl.", "Grasp the banana and put it in the red bowl.", "Grab the banana and place it into the red bowl.", "Grasp a banana and place it in the red bowl.", "Pick up the red cube and place it in the red bowl.", "Pick up the red cube and place it into the red bowl.", "Pick up the red cube and put it into the red bowl.", "Take the red cube and put it into the red bowl.", "Put the lemon in the red bowl.", "Pick up a lemon and put it in the red bowl.", "Place a lemon into the red bowl.", "Place the lemon into the red bowl.", "Put peach in the red bowl.", "Grasp peach and place it into the red bowl.", "Pick up peach and put it in the red bowl.", "Place peach into the red bowl.", "Put the peach in the red bowl.", "Pick up the peach and put it in the red bowl.", "Place the peach into the red bowl.", "Grasp the peach and place it into the red bowl.", "Put plum in the red bowl.", "Grasp plum and place it into the red bowl.", "Place plum into the red bowl.", "Pick up plum and put it in the red bowl.", "Put the plum in the red bowl.", "Grasp a plum and place it into the red bowl.", "Place the plum into the red bowl.", "Pick up the plum and put it in the red bowl.", "Grasp the red cube and put it in the red bowl.", "Take the red cube and place it into the red bowl.", "Grab a red cube and place it into the red bowl.", "Pick up a red cube and put it into the red bowl.", "Grasp a black cube and put it in the box.", "Take the black cube and put it in the box.", "Take a black cube and put it into the box.", "Grasp the black cube and place it into the box.", "Pick up a bottle and put it back down.", "Lift a bottle and set it back down.", "Grasp the bottle, lift it, and put it back down.", "Pick up the bottle and place it back down.", "Pick up the yellow duck and put it in the box.", "Grab a yellow duck and put it into the box.", "Grasp a yellow duck and put it into the box.", "Grab the yellow duck and put it in the box.", "Put the red square sponge into the box.", "Pick up the red square sponge and put it into the box.", "Place the red square sponge in the box.", "Grasp a red square sponge and place it in the box.", "Put the green square sponge into the box.", "Pick up a green square sponge and put it into the box.", "Grasp a green square sponge and place it in the box.", "Place a green square sponge in the box.", "Put the yellow duck into the box.", "Pick up a yellow duck and put it into the box.", "Put a yellow duck into the box.", "Pick up the yellow duck and put it into the box.", "Pick up the black duck and put it in the box.", "Put the black duck into the box.", "Pick up a black duck and put it into the box.", "Grasp the black duck and place it in the box.", "Put a black duck into the box.", "Put the blue square sponge into the box.", "Pick up a blue square sponge and put it into the box.", "Grasp a blue square sponge and place it in the box.", "Grasp the blue square sponge and place it in the box.", "Put the black duck in the box.", "Take the black duck and put it into the box.", "Grasp a yellow duck and put it in the box.", "Grab a yellow duck and place it into the box.", "Take the yellow duck and place it into the box.", "Grasp a yellow duck and place it in the box.", "Point at the first dot on the board.", "Point to the first dot on the board.", "Move the gripper to point at the first dot on the board.", "Indicate the first dot on the board.", "Pick up the yellow rubber duck and place it in the cardboard box.", "Pick up a yellow rubber duck and put it into the cardboard box.", "Take a yellow rubber duck and place it in the cardboard box.", "Pick up a yellow rubber duck and place it into the cardboard box.", "Grab an orange block and put it in the box.", "Grab the orange block and put it in the box.", "Grasp an orange block and put it in the box.", "Take an orange block and put it in the box.", "Grasp a bag and put it in the box.", "Pick up a bag and put it in the box.", "Grab the bag and put it into the box.", "Take a bag and place it into the box.", "Grasp a beer cap and put it in the glass.", "Pick up a beer cap and put it into the glass.", "Pick up the beer cap and put it in the glass.", "Take a beer cap and place it in the glass.", "Pick up the green block and place it in the white tray.", "Grasp a green block and place it into the white tray.", "Pick up a green block and place it into the white tray.", "Take the green block and put it into the white tray.", "Pick up the yellow ball.", "Pick up a yellow ball.", "Grasp a yellow ball.", "Take the yellow ball.", "Assemble the black objects.", "Put the black objects together.", "Assemble the black parts.", "Fit the black objects together.", "Grasp a carton box block and put it in the mug.", "Grab a carton box block and place it into the mug.", "Grab the carton box block and place it in the mug.", "Pick up the carton box block and place it into the mug.", "Pick and place a block into the bin.", "Pick up a block and place it into the bin.", "Grasp a block and put it in the bin.", "Move a block into the bin.", "Pick up the green block and place it in the woven basket.", "Pick up the green block and put it into the woven basket.", "Grab the green block and place it into the woven basket.", "Take a green block and put it in the woven basket.", "Pick up the red cube and place it in the black bowl.", "Take a red cube and place it into the black bowl.", "Pick up the red cube and put it into the black bowl.", "Take the red cube and place it in the black bowl.", "Pick up the cubes and place them in the black bowl.", "Take the cubes and place them into the black bowl.", "Grasp the cubes and place them into the black bowl.", "Put the cubes in the black bowl.", "Pick up the cube and place it in the black bowl.", "Pick up a cube and put it in the black bowl.", "Pick up the cube and put it into the black bowl.", "Grab a cube and put it in the black bowl.", "Grasp a red cube and put it in the cup.", "Grab the red cube and put it into the cup.", "Grasp the red cube and put it into the cup.", "Grab the red cube and put it in the cup.", "Pick up the ball and place it in the cup.", "Take the ball and put it in the cup.", "Grasp a ball and put it into the cup.", "Grasp a ball and place it in the cup.", "Pick up the cube and drop it in the cup.", "Grasp the cube and put it into the cup.", "Pick up a cube and put it into the cup.", "Grasp the cube and place it into the cup.", "Push the roll of tape onto the blue square.", "Slide the roll of tape onto the blue square.", "Push the tape roll onto the blue square.", "Push the roll of tape until it is on the blue square.", "Push a circle block to the blue square in the center.", "Slide a circle block to the blue square in the center.", "Push the round block onto the blue square in the center.", "Push a circle block onto the blue square in the center.", "Grasp a lego block and put it in the container.", "Grab the lego block and place it into the container.", "Pick up a lego block and put it in the container.", "Take the lego block and put it into the container.", "Grasp the yellow pen put it in the bin.", "Put the yellow pen in the bin.", "Grab a yellow pen and place it into the bin.", "Pick up the yellow pen and place it in the bin.", "Fold the blanket.", "Fold up the blanket.", "Fold the blanket over.", "Pick up the black block and place it in the transparent container.", "Grasp a black block and place it in the transparent container.", "Grasp the black block and put it in the transparent container.", "Take a black block and put it into the transparent container.", "Pick up the green square and place it in the transparent container.", "Grab the green square and place it in the transparent container.", "Grasp a green square and put it into the transparent container.", "Take a green square and put it into the transparent container.", "Pick up the blue square and place it in the transparent container.", "Take a blue square and place it into the transparent container.", "Pick up the blue square and place it into the transparent container.", "Put a blue square in the transparent container.", "Pick up the blue circle and place it in the transparent container.", "Grasp a blue circle and place it in the transparent container.", "Take the blue circle and put it in the transparent container.", "Grasp the blue circle and place it into the transparent container.", "Pick up the red square and place it in the transparent container.", "Grasp a red square and put it into the transparent container.", "Take a red square and put it into the transparent container.", "Grab a red square and place it into the transparent container.", "Pick up the red circle and place it in the transparent container.", "Grasp a red circle and put it into the transparent container.", "Take the red circle and place it into the transparent container.", "Take a red circle and place it into the transparent container.", "Pick up the yellow block and place it in the transparent container.", "Take the yellow block and put it in the transparent container.", "Put a yellow block in the transparent container.", "Grab the yellow block and place it in the transparent container.", "Pick up the block from the white plate and place it into the black pot.", "Grab the block from the white plate and place it in the black pot.", "Take the block from the white plate and place it into the black pot.", "Grab the block from the white plate and put it in the black pot.", "Pick up green blocks from the white plate and place it into the black pot.", "Grasp green blocks from the white plate and put it into the black pot.", "Grasp green blocks from the white plate and place it into the black pot.", "Grab green blocks from the white plate and put it into the black pot.", "Pick up white blocks from the white plate and place it into the black pot.", "Pick up white blocks from the white plate and put it in the black pot.", "Pick up white blocks from the white plate and place it in the black pot.", "Grab white blocks from the white plate and put it in the black pot.", "Pick up Objects on the grey area and place it on the white dish.", "Take Objects on the grey area and put it onto the white dish.", "Grasp Objects on the grey area and put it onto the white dish.", "Take Objects on the grey area and place it onto the white dish.", "Pick up Objects on the white dish and place it on the black pot.", "Take Objects on the white dish and put it on the black pot.", "Grasp Objects on the white dish and put it onto the black pot.", "Grasp Objects on the white dish and place it onto the black pot.", "Pick up the green block from the white plate and place it in the black bowl.", "Put the green block from the white plate in the black bowl.", "Put a green block from the white plate in the black bowl.", "Pick up a green block from the white plate and place it in the black bowl.", "Grasp 4 blocks and put them in the black pot.", "Grab 4 blocks and put them in the black pot.", "Pick up 4 blocks and put them into the black pot.", "Pick up 4 blocks and place them into the black pot.", "Pick up the toy chick and place it in the nest.", "Grab a toy chick and put it into the nest.", "Grab the toy chick and place it in the nest.", "Grasp a toy chick and put it into the nest.", "Grasp an orange cap and put it in the red box.", "Pick up the orange cap and put it into the red box.", "Grasp the orange cap and place it in the red box.", "Grab the orange cap and place it in the red box.", "Use the robotic gripper to securely grasp a visible carrot and accurately place it within the clearly marked square area on the surface.", "Pick up the carrot and place it within the marked square on the surface.", "Grasp the visible carrot and put it within the square marked on the surface.", "Take the carrot and place it within the clearly marked square area on the surface.", "Grasp the egg and put it in the red bin.", "Pick up the egg and put it into the red bin.", "Grasp the egg and place it in the red bin.", "Take the egg and place it in the red bin.", "Grasp a ball and put it on a goblet.", "Grasp the ball and put it onto a goblet.", "Take a ball and place it onto a goblet.", "Grasp a ball and put it onto a goblet.", "Pick up the blue cube and place it on the red cube.", "Take the blue cube and put it on the red cube.", "Grab a blue cube and place it on the red cube.", "Grab the blue cube and put it onto the red cube.", "Grasp a green cube and put in a box.", "Grab the green cube and put it in a box.", "Take the green cube and put it into a box.", "Grasp a green cube and put it into a box.", "Grasp a blue cube in a box.", "Take the blue cube in a box.", "Take a blue cube in a box.", "Grab the blue cube in a box.", "Grab a 3d block and put it in the bin.", "Grasp the 3d block and place it into the bin.", "Pick up the 3d block and place it in the bin.", "Pick up a 3d block and place it in the bin.", "Pick up the orange cube and place it in the orange box.", "Take an orange cube and put it in the orange box.", "Put the orange cube in the orange box.", "Put an orange cube in the orange box.", "Grasp 3d block and put it in the bin.", "Grab 3d block and put it into the bin.", "Pick up 3d block and put it in the bin.", "Pick up 3d block and put it into the bin.", "Pick up the black object and place it on the metal tray.", "Grasp a black object and place it onto the metal tray.", "Put a black object on the metal tray.", "Grab the black object and place it on the metal tray.", "Pick up the medicine box and place it on the metal tray.", "Grab a medicine box and put it onto the metal tray.", "Take the medicine box and put it on the metal tray.", "Put the medicine box on the metal tray.", "Push the O-shape type to the right place.", "Push the O-shaped piece to the right place.", "Slide the O-shape to the right place.", "Push the O-shaped piece into the right place.", "Grasp a pen and put it in the bin.", "Pick up the pen and put it in the bin.", "Take a pen and put it into the bin.", "Grab the pen and place it in the bin.", "Grasp a chess and put it in the blue box.", "Grasp a chess and put it into the blue box.", "Take the chess and put it into the blue box.", "Put the chess in the blue box.", "Grasp a chess and put it in blue box.", "Grasp the chess and place it into blue box.", "Grasp a chess and put it into blue box.", "Grasp the chess and put it into blue box.", "Grasp a measuring tape and put it on your back.", "Grab the measuring tape and place it on your back.", "Take a measuring tape and place it on your back.", "Grasp the measuring tape and place it on your back.", "Grasp the black measuring tape and put it on your back.", "Grab the black measuring tape and put it onto your back.", "Grab the black measuring tape and put it on your back.", "Grab a black measuring tape and put it on your back.", "Pick up the banana and place it on the plate.", "Take a banana and put it onto the plate.", "Grab the banana and place it on the plate.", "Grab a banana and put it onto the plate.", "Pick up the green cubes from the white plate and place them in the black recipient.", "Pick up the green cubes from the white plate and put them in the black recipient.", "Take the green cubes from the white plate and place them into the black recipient.", "Take the green cubes from the white plate and put them into the black recipient.", "Pick up the red cubes from the white plate and place them in the black bucket.", "Take the red cubes from the white plate and place them into the black bucket.", "Grasp the red cubes from the white plate and place them into the black bucket.", "Put the red cubes from the white plate in the black bucket.", "Pick up the green blocks from the white plate and place them in the black bowl.", "Pick up the green blocks from the white plate and put them in the black bowl.", "Grab the green blocks from the white plate and place them in the black bowl.", "Grasp the green blocks from the white plate and place them in the black bowl.", "Open the left cabinet door.", "Open the door of the left cabinet.", "Pull the left cabinet door open.", "Swing open the left cabinet door.", "Pick up the green pineapple from the left cabinet and place it in the green recipient.", "Put a green pineapple from the left cabinet in the green recipient.", "Pick up a green pineapple from the left cabinet and put it into the green recipient.", "Grasp the green pineapple from the left cabinet and place it into the green recipient.", "Close the left cabinet door.", "Shut the left cabinet door.", "Close the door of the left cabinet.", "Push the left cabinet door closed.", "Take off the lid from the green recipient and place it on the counter.", "Grab off the lid from the green recipient and put it onto the counter.", "Pick up off the lid from the green recipient and place it onto the counter.", "Grasp off the lid from the green recipient and put it on the counter.", "Pick up the lid from the counter and put it on the green recipient.", "Grasp the lid from the counter and put it onto the green recipient.", "Grasp a lid from the counter and put it on the green recipient.", "Grab a lid from the counter and put it onto the green recipient.", "Take off the lid from the gray recipient and place it on the counter.", "Take off the lid from the gray recipient and put it on the counter.", "Take off the lid from the gray recipient and place it onto the counter.", "Pick up off the lid from the gray recipient and place it on the counter.", "Pick up the lid from the counter and put it on the gray recipient.", "Grasp the lid from the counter and place it onto the gray recipient.", "Grasp a lid from the counter and place it onto the gray recipient.", "Grab the lid from the counter and put it onto the gray recipient.", "Pick up the green pineapple from the left cabinet and place it in the gray recipient.", "Take the green pineapple from the left cabinet and place it in the gray recipient.", "Put a green pineapple from the left cabinet in the gray recipient.", "Pick up the green pineapple from the left cabinet and put it into the gray recipient.", "Put salt in the gray recipient.", "Pick up salt and put it in the gray recipient.", "Place salt into the gray recipient.", "Grasp salt and place it into the gray recipient.", "Pick up the grey object and place it on the notebook.", "Grab a grey object and put it onto the notebook.", "Grab a grey object and place it on the notebook.", "Pick up a grey object and place it onto the notebook.", "Move the chess piece from the red circle to the blue circle.", "Move the chess piece from the red circle onto the blue circle.", "Take the chess piece on the red circle and put it on the blue circle.", "Place the chess piece from the red circle on the blue circle.", "Grasp mouse plushy and put it in the white box.", "Pick up mouse plushy and put it in the white box.", "Take mouse plushy and put it in the white box.", "Pick up mouse plushy and place it into the white box.", "Grasp seal plushy and put it in the white box.", "Grasp seal plushy and put it into the white box.", "Pick up seal plushy and place it into the white box.", "Pick up seal plushy and place it in the white box.", "Pick up the yellow cube and place it in the cardboard box.", "Grab a yellow cube and put it into the cardboard box.", "Grab the yellow cube and put it into the cardboard box.", "Take the yellow cube and put it in the cardboard box.", "Pick up the box and move it to the side.", "Grasp a box and put it to the side.", "Take a box and place it to the side.", "Grasp the box and put it to the side.", "Pick up the toy figure and place it in the clear plastic box.", "Pick up the toy figure and put it in the clear plastic box.", "Take a toy figure and put it in the clear plastic box.", "Grab the toy figure and put it in the clear plastic box.", "Grasp a duck and put it on the black surface.", "Grab the duck and put it onto the black surface.", "Pick up a duck and put it on the black surface.", "Take a duck and put it onto the black surface.", "Pick up the toy cookie.", "Grab a toy cookie.", "Grab the toy cookie.", "Take the toy cookie.", "Pick up the light blue object and place it in the white box.", "Grasp the light blue object and put it into the white box.", "Grab the light blue object and put it into the white box.", "Take the light blue object and put it in the white box.", "Grasp a toy and put it in the bin.", "Pick up the toy and put it into the bin.", "Take a toy and place it into the bin.", "Grasp the toy and place it into the bin.", "Pick up the red object and place it in the white tray.", "Take the red object and put it in the white tray.", "Take a red object and put it in the white tray.", "Pick up a red object and place it into the white tray.", "Pick up the orange and place it in the wooden tray.", "Grasp the orange and put it in the wooden tray.", "Take an orange and put it in the wooden tray.", "Grasp the orange and place it into the wooden tray.", "Pick up the pink object and place it in the cardboard box.", "Grab the pink object and place it in the cardboard box.", "Pick up a pink object and put it in the cardboard box.", "Pick up the pink object and place it into the cardboard box.", "Grasp a tape and put it in the drawing circle.", "Grab the tape and place it in the drawing circle.", "Grab the tape and put it into the drawing circle.", "Grab the tape and put it in the drawing circle.", "Grab the scissors.", "Grasp the scissors.", "Take the scissors.", "Pick up the scissors.", "Grab the forceps.", "Grasp the forceps.", "Pick up the forceps.", "Take the forceps.", "Grasp a lego block and put it on the plate.", "Take a lego block and place it on the plate.", "Grasp a lego block and put it onto the plate.", "Take a lego block and place it onto the plate.", "Pick up the lego block.", "Grasp the lego block.", "Pick up a lego block.", "Grasp a lego block.", "Take the lego block.", "Take a lego block.", "Grasp anything.", "Pick up anything.", "Grab anything.", "Take anything.", "Pick the pig and place it to the right.", "Grab the pig and place it to the right.", "Take a pig and put it to the right.", "Pick up a pig and put it to the right.", "Shake the person's hand.", "Shake hands with the person.", "Give the person a handshake.", "Shake the hand of the person.", "Pick up the chess piece on A6 and place it on D6.", "Pick up the chess piece on A6 and put it onto D6.", "Grab a chess piece on A6 and put it onto D6.", "Take the chess piece on A6 and put it onto D6.", "Pick up the chess piece on B5 and place it on B6.", "Take the chess piece on B5 and place it onto B6.", "Grab the chess piece on B5 and place it onto B6.", "Grasp the chess piece on B5 and place it on B6.", "Pick up the chess piece on B5 and place it on C7.", "Grasp the chess piece on B5 and place it onto C7.", "Take the chess piece on B5 and place it onto C7.", "Take the chess piece on B5 and put it onto C7.", "Pick up the chess piece on C5 and place it on B6.", "Pick up the chess piece on C5 and put it onto B6.", "Grasp a chess piece on C5 and place it onto B6.", "Put the chess piece on C5 on B6.", "Pick up the chess piece on D6 and place it on D5.", "Take a chess piece on D6 and place it on D5.", "Take the chess piece on D6 and place it onto D5.", "Grab a chess piece on D6 and place it on D5.", "Pick up the chess piece on A8 and place it on D8.", "Pick up the chess piece on A8 and put it onto D8.", "Pick up a chess piece on A8 and place it on D8.", "Take the chess piece on A8 and place it onto D8.", "Pick up the small cake and place it in the blue cap.", "Grasp a small cake and place it into the blue cap.", "Grasp a small cake and place it in the blue cap.", "Put a small cake in the blue cap.", "Pick up the cube and place it in the box.", "Grab a cube and place it in the box.", "Pick up a cube and place it in the box.", "Take the cube and put it into the box.", "Remove the cube from the box.", "Take the cube out of the box.", "Lift the cube out of the box.", "Get the cube out of the box.", "Pick up the pen and put it in the pen holder.", "Take a pen and put it into the pen holder.", "Pick up a pen and place it into the pen holder.", "Grab a pen and put it into the pen holder.", "Pick up the yellow tape and place it in the box.", "Take the yellow tape and place it in the box.", "Grab a yellow tape and put it in the box.", "Put the yellow tape in the box.", "Remove the yellow tape from the box.", "Take the yellow tape out of the box.", "Lift the yellow tape out of the box.", "Get the yellow tape out of the box.", "Pick up the red cube and place it in the box.", "Grasp a red cube and put it into the box.", "Take the red cube and place it into the box.", "Take a red cube and put it into the box.", "Grab up the yellow tape and put it in the box.", "Pick up up the yellow tape and put it into the box.", "Grasp up the yellow tape and place it in the box.", "Grab up the yellow tape and put it into the box.", "Grasp a red block and put it in the dish.", "Grasp the red block and put it in the dish.", "Grasp a red block and place it into the dish.", "Take a red block and place it into the dish.", "Grasp a red block and put it in the bin.", "Pick up the red block and place it in the bin.", "Put a red block in the bin.", "Grasp the red block and put it into the bin.", "Pick up the red cube and place it on the clear plate.", "Grasp a red cube and put it onto the clear plate.", "Take the red cube and put it on the clear plate.", "Take a red cube and place it onto the clear plate.", "Grasp a red block and put it in the left red dish.", "Take a red block and place it in the left red dish.", "Grab a red block and place it in the left red dish.", "Grasp the red block and place it in the left red dish.", "Grasp a tape and put it in the right purple dish.", "Take the tape and put it in the right purple dish.", "Pick up a tape and place it in the right purple dish.", "Pick up a tape and put it in the right purple dish.", "Pick up the red toy and place it in the white tray.", "Take a red toy and put it into the white tray.", "Grasp a red toy and put it in the white tray.", "Grasp the red toy and place it in the white tray.", "Pick up the red toy and place it in the box.", "Grab the red toy and place it in the box.", "Grab a red toy and put it in the box.", "Grab the red toy and put it into the box.", "Grasp the red box and put it in the box.", "Pick up a red box and put it in the box.", "Grab the red box and place it into the box.", "Grab a red box and place it in the box.", "Grasp a black block and put it in the bin.", "Grab a black block and put it into the bin.", "Pick up a black block and place it in the bin.", "Take a black block and place it in the bin.", "Grasp a block and put it in the mug.", "Grasp the block and place it into the mug.", "Pick up a block and put it into the mug.", "Pick up the block and put it in the mug.", "Pick up the small blue block and place it in the wooden box.", "Take a small blue block and put it in the wooden box.", "Grab the small blue block and place it into the wooden box.", "Pick up a small blue block and put it into the wooden box.", "Draw some curves randomly.", "Draw some random curves.", "Draw a few random curves.", "Scribble some curves at random.", "Grasp a little apple and put it in the bin.", "Grab a little apple and place it in the bin.", "Grasp a little apple and put it into the bin.", "Grasp the little apple and place it in the bin.", "Pick up a blueberry and place it in the red bowl.", "Take a blueberry and put it in the red bowl.", "Grasp a blueberry and place it in the red bowl.", "Grab the blueberry and place it into the red bowl.", "Pick up the blue block and put it in the black bin.", "Grasp the blue block and put it in the black bin.", "Pick up the blue block and put it into the black bin.", "Grab a blue block and place it in the black bin.", "Pick up the purple block and put it in the black bin.", "Pick up the purple block and place it into the black bin.", "Grab a purple block and place it into the black bin.", "Take the purple block and place it into the black bin.", "Grasp the beanbag and put it in the bin.", "Take the beanbag and place it in the bin.", "Grab a beanbag and put it into the bin.", "Grasp a beanbag and place it in the bin.", "Pick up the pink ball and place it in the blue bowl.", "Pick up a pink ball and place it into the blue bowl.", "Take the pink ball and place it into the blue bowl.", "Grab a pink ball and put it in the blue bowl.", "Pick up the key and place it in the small box.", "Grab the key and put it in the small box.", "Grab a key and place it into the small box.", "Pick up a key and put it in the small box.", "Pick up the black lego brick and place it in the cup.", "Take a black lego brick and put it in the cup.", "Pick up a black lego brick and place it into the cup.", "Grasp the black lego brick and place it into the cup.", "Pick up the orange cube and place it in the blue bowl.", "Grab the orange cube and place it in the blue bowl.", "Pick up the orange cube and put it in the blue bowl.", "Take the orange cube and place it into the blue bowl.", "Pick up the orange block and put it in the blue tape roll.", "Pick up an orange block and place it into the blue tape roll.", "Put the orange block in the blue tape roll.", "Grasp the orange block and place it in the blue tape roll.", "Grasp a Jenga piece and put it on top of another.", "Take a Jenga piece and place it on top of another.", "Take the Jenga piece and put it on top of another.", "Grab the Jenga piece and place it on top of another.", "Grab a Jenga piece and put it on top the box.", "Grasp a Jenga piece and put it on top the box.", "Pick up a Jenga piece and place it on top the box.", "Grasp the Jenga piece and place it on top the box.", "Put the Jenga piece on top the box.", "Grab the Jenga piece and place it on top the box.", "Grasp a duck and place it on the black square.", "Grasp the duck and put it onto the black square.", "Pick up the duck and place it onto the black square.", "Pick up the duck and put it on the black square.", "Pick up the blue cube.", "Take a blue cube.", "Grasp a blue cube.", "Take the blue cube.", "Grasp a clothespin and put it in the bowl.", "Pick up a clothespin and place it into the bowl.", "Grab the clothespin and place it in the bowl.", "Pick up the clothespin and place it into the bowl.", "Grasp a blue block and put it in the bowl.", "Pick up the blue block and put it into the bowl.", "Pick up a blue block and place it in the bowl.", "Put a blue block in the bowl.", "Move box red to zone 1.", "Move the red box to zone 1.", "Bring the red box to zone 1.", "Put the red box in zone 1.", "Move box red to zone 2.", "Move the red box to zone 2.", "Bring the red box to zone 2.", "Put the red box in zone 2.", "Move box red to home.", "Move the red box to the home position.", "Bring the red box home.", "Return the red box to home.", "Move box blue to zone 1.", "Move the blue box to zone 1.", "Bring the blue box to zone 1.", "Put the blue box in zone 1.", "Move box blue to zone 2.", "Move the blue box to zone 2.", "Bring the blue box to zone 2.", "Put the blue box in zone 2.", "Move box blue to home.", "Move the blue box to the home position.", "Bring the blue box home.", "Return the blue box to home.", "Move box yellow to zone 1.", "Move the yellow box to zone 1.", "Bring the yellow box to zone 1.", "Put the yellow box in zone 1.", "Move box yellow to zone 2.", "Move the yellow box to zone 2.", "Bring the yellow box to zone 2.", "Put the yellow box in zone 2.", "Move box yellow to home.", "Move the yellow box to the home position.", "Bring the yellow box home.", "Return the yellow box to home.", "Grasp a cylinder and put it in the box.", "Take a cylinder and place it into the box.", "Take a cylinder and place it in the box.", "Grab a cylinder and place it in the box.", "Grasp the lego brick and put it in the box.", "Grab a lego brick and place it into the box.", "Pick up a lego brick and place it into the box.", "Grasp a lego brick and put it in the box.", "Pick up the roll of tape and put it in the box.", "Take a roll of tape and place it in the box.", "Take a roll of tape and put it into the box.", "Pick up the roll of tape and place it into the box.", "Pick the yellow lego block and put it in the box.", "Grasp the yellow lego block and put it in the box.", "Take a yellow lego block and put it in the box.", "Take a yellow lego block and place it into the box.", "Grasp a yellow lego block and put it in the box.", "Pick up the yellow lego brick and place it in the box.", "Pick up the yellow lego brick and place it into the box.", "Grasp a yellow lego brick and put it into the box.", "Pick up a yellow lego brick and put it into the box.", "Grasp the purple lego block and put it in the box.", "Take a purple lego block and put it in the box.", "Grasp the purple lego block and place it in the box.", "Grab a purple lego block and place it into the box.", "Grasp a lego block and put it in the box.", "Pick up the lego block and place it in the box.", "Grab a lego block and place it into the box.", "Grab a lego block and put it in the box.", "Grasp a pen and put it in a mug.", "Take a pen and put it in a mug.", "Grasp a pen and place it into a mug.", "Grab a pen and place it into a mug.", "Touch the black pen with the gripper.", "Use the gripper to touch the black pen.", "Tap the black pen with the gripper.", "Touch the black pen using the gripper.", "Pick up the black object and place it in the white tray.", "Grasp a black object and put it in the white tray.", "Grab a black object and put it into the white tray.", "Grasp a black object and place it in the white tray.", "Pick up the black ring and place it inside the red circle.", "Take the black ring and put it inside the red circle.", "Grab a black ring and put it inside the red circle.", "Put a black ring inside the red circle.", "Put the yellow square into the bowl.", "Pick up a yellow square and put it into the bowl.", "Grasp a yellow square and place it in the bowl.", "Place a yellow square in the bowl.", "Put the blue square into the bowl.", "Put a blue square into the bowl.", "Grasp a blue square and place it in the bowl.", "Grasp the blue square and place it in the bowl.", "Put the red square into the bowl.", "Place the red square in the bowl.", "Grasp a red square and place it in the bowl.", "Place a red square in the bowl.", "Put the green square into the bowl.", "Put a green square into the bowl.", "Grasp the green square and place it in the bowl.", "Pick up a green square and put it into the bowl.", "Put the yellow square into the purple area.", "Pick up the yellow square and put it into the purple area.", "Place a yellow square in the purple area.", "Grasp a yellow square and place it in the purple area.", "Put the green square into the purple area.", "Place a green square in the purple area.", "Grasp the green square and place it in the purple area.", "Place the green square in the purple area.", "Put the red square into the purple area.", "Grasp a red square and place it in the purple area.", "Place the red square in the purple area.", "Grasp the red square and place it in the purple area.", "Put the blue square into the purple area.", "Place a blue square in the purple area.", "Place the blue square in the purple area.", "Grasp the blue square and place it in the purple area.", "Pick up the white ball and place it on the brown coaster.", "Grasp the white ball and put it on the brown coaster.", "Take the white ball and place it on the brown coaster.", "Take the white ball and put it on the brown coaster.", "Pick up the orange object and place it in the red bowl.", "Take the orange object and place it in the red bowl.", "Grab an orange object and place it into the red bowl.", "Pick up the orange object and put it into the red bowl.", "Pick up the red cube and place it inside the ring.", "Put a red cube inside the ring.", "Grab the red cube and place it inside the ring.", "Pick up the red cube and put it inside the ring.", "Pick up the servo motor box and place it in the silver box.", "Grasp a servo motor box and put it in the silver box.", "Take a servo motor box and put it in the silver box.", "Grasp the servo motor box and place it in the silver box.", "Grasp a tape reel and place it on the book.", "Take the tape reel and place it on the book.", "Pick up a tape reel and place it on the book.", "Grab a tape reel and put it onto the book.", "Pick up the red lego brick and place it in the black box.", "Take the red lego brick and put it into the black box.", "Grab a red lego brick and put it into the black box.", "Grasp a red lego brick and put it into the black box.", "Pick up the orange cubes and place them in the brown box.", "Grasp the orange cubes and place them into the brown box.", "Grasp the orange cubes and put them in the brown box.", "Put the orange cubes in the brown box.", "Pick up the orange Y cube and place it in the box.", "Take the orange Y cube and put it into the box.", "Grasp an orange Y cube and place it in the box.", "Take an orange Y cube and place it in the box.", "Place the circle to the center left box.", "Put the circle in the center left box.", "Place the circle in the center-left box.", "Move the circle to the center left box.", "Place the circle to the center right box.", "Put the circle in the center right box.", "Place the circle in the center-right box.", "Move the circle to the center right box.", "Place the circle to the center box.", "Put the circle in the center box.", "Place the circle in the middle box.", "Move the circle to the center box.", "Place the circle to the center top box.", "Put the circle in the center top box.", "Place the circle in the top center box.", "Move the circle to the center top box.", "Place the circle to the center bottom box.", "Put the circle in the center bottom box.", "Place the circle in the bottom center box.", "Move the circle to the center bottom box.", "Place the circle to the bottom left corner box.", "Put the circle in the bottom left corner box.", "Place the circle in the bottom-left corner box.", "Move the circle to the bottom left corner box.", "Place the circle to the bottom right corner box.", "Put the circle in the bottom right corner box.", "Place the circle in the bottom-right corner box.", "Move the circle to the bottom right corner box.", "Place the circle to the top left corner box.", "Put the circle in the top left corner box.", "Place the circle in the top-left corner box.", "Move the circle to the top left corner box.", "Place the circle to the top right corner box.", "Put the circle in the top right corner box.", "Place the circle in the top-right corner box.", "Move the circle to the top right corner box.", "Pick up the orange Y cube, keep the letter Y upright, and place it at the center.", "Grasp the orange Y cube, keep the letter Y upright and put it at the center.", "Grab the orange Y cube, keep the letter Y upright and place it at the center.", "Put the orange Y cube, keep the letter Y upright at the center.", "Pick up the orange cube marked Y and place it in the brown box.", "Grab an orange cube marked Y and place it in the brown box.", "Take the orange cube marked Y and put it in the brown box.", "Grasp the orange cube marked Y and place it in the brown box.", "Pick up the blue lego block and place it in the red cup.", "Grab a blue lego block and place it in the red cup.", "Take a blue lego block and place it in the red cup.", "Take the blue lego block and put it into the red cup.", "Pick up the cube and put it in the box of the same color.", "Pick up a cube and put it in the box of the same color.", "Pick up the cube and place it into the box of the same color.", "Take a cube and place it into the box of the same color.", "Grasp a small box and put it into the container.", "Pick up a small box and put it into the container.", "Take the small box and put it into the container.", "Take the small box and put it in the container.", "Pick up the small gray object and place it in the clear container.", "Grab a small gray object and put it in the clear container.", "Grasp the small gray object and place it in the clear container.", "Grab the small gray object and put it into the clear container.", "Put the tape inside the circle.", "Pick up a tape and put it inside the circle.", "Grasp a tape and place it inside the circle.", "Place the tape inside the circle.", "Pick up the orange Benchy boat and place it in the green cup.", "Take the orange Benchy boat and place it into the green cup.", "Grasp an orange Benchy boat and put it in the green cup.", "Take the orange Benchy boat and put it into the green cup.", "Pick up the tennis balls and drop them in the red bowl.", "Pick up the tennis balls and place them into the red bowl.", "Grab the tennis balls and put them in the red bowl.", "Grab the tennis balls and put them into the red bowl.", "Grasp small items and put it in the red bowl.", "Grasp small items and place it in the red bowl.", "Pick up small items and place it in the red bowl.", "Take small items and put it in the red bowl.", "Pick up the blue cube and place it in the box.", "Pick up the blue cube and put it in the box.", "Grasp a blue cube and place it into the box.", "Take the blue cube and put it into the box.", "Put the red cube on top of the blue cube.", "Pick up a red cube and put it on top of the blue cube.", "Grasp the red cube and place it on top of the blue cube.", "Place the red cube on top of the blue cube.", "Put the orange cube on top of the yellow cube.", "Pick up the orange cube and put it on top of the yellow cube.", "Pick up an orange cube and put it on top of the yellow cube.", "Grasp the orange cube and place it on top of the yellow cube.", "Put the red cube on top of the green cube.", "Put a red cube on top of the green cube.", "Pick up a red cube and put it on top of the green cube.", "Place the red cube on top of the green cube.", "Put the orange cube on top of the green cube.", "Place the orange cube on top of the green cube.", "Pick up an orange cube and put it on top of the green cube.", "Put an orange cube on top of the green cube.", "Put the green cube on top of the red cube.", "Grasp the green cube and place it on top of the red cube.", "Pick up the green cube and put it on top of the red cube.", "Pick up a green cube and put it on top of the red cube.", "Put the green cube on top of the purple cube.", "Put a green cube on top of the purple cube.", "Pick up the green cube and put it on top of the purple cube.", "Grasp the green cube and place it on top of the purple cube.", "Put the blue cube on top of the orange cube.", "Place a blue cube on top of the orange cube.", "Place the blue cube on top of the orange cube.", "Pick up the blue cube and put it on top of the orange cube.", "Put the orange cube on top of the purple cube.", "Put an orange cube on top of the purple cube.", "Place an orange cube on top of the purple cube.", "Pick up an orange cube and put it on top of the purple cube.", "Put the yellow cube on top of the purple cube.", "Pick up the yellow cube and put it on top of the purple cube.", "Put a yellow cube on top of the purple cube.", "Grasp a yellow cube and place it on top of the purple cube.", "Put the yellow cube on top of the orange cube.", "Put a yellow cube on top of the orange cube.", "Grasp a yellow cube and place it on top of the orange cube.", "Place a yellow cube on top of the orange cube.", "Put the green cube on top of the orange cube.", "Put a green cube on top of the orange cube.", "Grasp the green cube and place it on top of the orange cube.", "Pick up a green cube and put it on top of the orange cube.", "Put the blue cube on top of the red cube.", "Pick up the blue cube and put it on top of the red cube.", "Grasp the blue cube and place it on top of the red cube.", "Pick up a blue cube and put it on top of the red cube.", "Put the blue cube on top of the yellow cube.", "Place the blue cube on top of the yellow cube.", "Grasp a blue cube and place it on top of the yellow cube.", "Grasp the blue cube and place it on top of the yellow cube.", "Put the red cube on top of the yellow cube.", "Pick up a red cube and put it on top of the yellow cube.", "Pick up the red cube and put it on top of the yellow cube.", "Put a red cube on top of the yellow cube.", "Put the purple cube on top of the orange cube.", "Put a purple cube on top of the orange cube.", "Pick up a purple cube and put it on top of the orange cube.", "Grasp a purple cube and place it on top of the orange cube.", "Put the yellow cube on top of the blue cube.", "Grasp a yellow cube and place it on top of the blue cube.", "Place a yellow cube on top of the blue cube.", "Place the yellow cube on top of the blue cube.", "Put the green cube on top of the yellow cube.", "Grasp the green cube and place it on top of the yellow cube.", "Place a green cube on top of the yellow cube.", "Put a green cube on top of the yellow cube.", "Put the orange cube on top of the red cube.", "Grasp an orange cube and place it on top of the red cube.", "Put an orange cube on top of the red cube.", "Place the orange cube on top of the red cube.", "Put the blue cube on top of the green cube.", "Place the blue cube on top of the green cube.", "Place a blue cube on top of the green cube.", "Pick up a blue cube and put it on top of the green cube.", "Put the orange cube on top of the blue cube.", "Place an orange cube on top of the blue cube.", "Grasp an orange cube and place it on top of the blue cube.", "Pick up the orange cube and put it on top of the blue cube.", "Put the yellow cube on top of the red cube.", "Pick up the yellow cube and put it on top of the red cube.", "Pick up a yellow cube and put it on top of the red cube.", "Put a yellow cube on top of the red cube.", "Put the purple cube on top of the green cube.", "Place the purple cube on top of the green cube.", "Grasp the purple cube and place it on top of the green cube.", "Put a purple cube on top of the green cube.", "Put the purple cube on top of the yellow cube.", "Pick up the purple cube and put it on top of the yellow cube.", "Place a purple cube on top of the yellow cube.", "Place the purple cube on top of the yellow cube.", "Put the purple cube on top of the blue cube.", "Grasp a purple cube and place it on top of the blue cube.", "Pick up the purple cube and put it on top of the blue cube.", "Pick up a purple cube and put it on top of the blue cube.", "Put the purple cube on top of the red cube.", "Place the purple cube on top of the red cube.", "Put a purple cube on top of the red cube.", "Pick up a purple cube and put it on top of the red cube.", "Put the yellow cube on top of the green cube.", "Place a yellow cube on top of the green cube.", "Pick up the yellow cube and put it on top of the green cube.", "Grasp the yellow cube and place it on top of the green cube.", "Put the red cube on top of the purple cube.", "Place the red cube on top of the purple cube.", "Pick up the red cube and put it on top of the purple cube.", "Grasp a red cube and place it on top of the purple cube.", "Put the green cube on top of the blue cube.", "Grasp a green cube and place it on top of the blue cube.", "Put a green cube on top of the blue cube.", "Pick up a green cube and put it on top of the blue cube.", "Put the blue cube on top of the purple cube.", "Pick up a blue cube and put it on top of the purple cube.", "Put a blue cube on top of the purple cube.", "Place a blue cube on top of the purple cube.", "Put the red cube on top of the orange cube.", "Place the red cube on top of the orange cube.", "Grasp a red cube and place it on top of the orange cube.", "Grasp the red cube and place it on top of the orange cube.", "Pick up the spare gripper jaw and put it in the empty cardboard box.", "Grasp the spare gripper jaw and place it in the empty cardboard box.", "Take the spare gripper jaw and place it into the empty cardboard box.", "Put a spare gripper jaw in the empty cardboard box.", "Pick up the green marker and place it on the white square.", "Grab a green marker and place it onto the white square.", "Pick up a green marker and place it on the white square.", "Take a green marker and place it on the white square.", "Pick up the green matchbox and place it in the white square.", "Grasp a green matchbox and place it in the white square.", "Pick up a green matchbox and place it in the white square.", "Pick up a green matchbox and place it into the white square.", "Grasp a Black stone and put it in the board on position (0,0).", "Take the Black stone and put it into the board on position (0,0).", "Grab a Black stone and place it into the board on position (0,0).", "Pick up the Black stone and place it into the board on position (0,0).", "Grasp a stone and put it on the board at position 0.", "Grab the stone and place it on the board at position 0.", "Pick up a stone and put it onto the board at position 0.", "Pick up a stone and put it on the board at position 0.", "Grasp a stone and put it in the board on position (0,0).", "Grab a stone and place it in the board on position (0,0).", "Take a stone and place it in the board on position (0,0).", "Pick up the stone and put it in the board on position (0,0).", "Pick up the roll of tape and put it in the blue box.", "Pick up the roll of tape and place it in the blue box.", "Take a roll of tape and put it into the blue box.", "Take the roll of tape and place it into the blue box.", "Grasp a carrot and put it in the bin.", "Pick up the carrot and place it in the bin.", "Pick up the carrot and place it into the bin.", "Pick up the carrot and put it in the bin.", "Pick up the onion and put it in the food processor.", "Grasp the onion and put it in the food processor.", "Grab an onion and put it into the food processor.", "Grasp the onion and place it into the food processor.", "Move the pen into the tray.", "Put the pen in the tray.", "Place the pen into the tray.", "Pick up the pen and drop it in the tray.", "Pick up the red bottle from the tray and bring it to the top of the table.", "Grab the red bottle from the tray and put it to the top of the table.", "Pick up the red bottle from the tray and put it to the top of the table.", "Grab a red bottle from the tray and place it to the top of the table.", "Pick up the makeup and brush and place them on the table.", "Pick up the makeup and brush and place them onto the table.", "Take a makeup and brush and place them on the table.", "Pick up a makeup and brush and place them on the table.", "Pick up the brushes and place them in the glass holder.", "Pick up the brushes and put them in the glass holder.", "Pick up the brushes and put them into the glass holder.", "Take the brushes and put them into the glass holder.", "Pick up the red toy and put it in the dark bowl.", "Grasp the red toy and place it into the dark bowl.", "Grasp the red toy and put it into the dark bowl.", "Grab the red toy and put it in the dark bowl.", "Pick up the plush and put it in the dark bowl.", "Take a plush and put it in the dark bowl.", "Grasp the plush and place it into the dark bowl.", "Take a plush and place it in the dark bowl.", "Take the rose from the rightside of the table and put it in the vase in the middle of the table.", "Pick up a rose from the rightside of the table and place it in the vase in the middle of the table.", "Take the rose from the rightside of the table and put it into the vase in the middle of the table.", "Grab a rose from the rightside of the table and place it into the vase in the middle of the table.", "Pick up rose from vase and place it onto the table.", "Grasp rose from vase and put it on the table.", "Pick up rose from vase and put it onto the table.", "Put rose from vase onto the table.", "Pick up veggie straw from inside of open veggie straw packet and place it inside the bowl on the left side of the veggie straw packet.", "Grasp veggie straw from inside of open veggie straw packet and put it inside the bowl on the left side of the veggie straw packet.", "Pick up veggie straw from inside of open veggie straw packet and put it inside the bowl on the left side of the veggie straw packet.", "Grab veggie straw from inside of open veggie straw packet and place it inside the bowl on the left side of the veggie straw packet.", "Pick up the rightmost apple slice from the cutting board and place it into the bowl.", "Grab a rightmost apple slice from the cutting board and put it into the bowl.", "Grasp a rightmost apple slice from the cutting board and put it into the bowl.", "Take the rightmost apple slice from the cutting board and put it into the bowl.", "Pick up the second from the right apple slice from the cutting board and place it into the bowl.", "Grasp the second from the right apple slice from the cutting board and place it in the bowl.", "Pick up a second from the right apple slice from the cutting board and place it in the bowl.", "Put the second from the right apple slice from the cutting board into the bowl.", "Pick up the third from the right apple slice from the cutting board and place it into the bowl.", "Put a third from the right apple slice from the cutting board into the bowl.", "Take a third from the right apple slice from the cutting board and put it into the bowl.", "Pick up the third from the right apple slice from the cutting board and put it into the bowl.", "Pick up the leftmost apple slice from the cutting board and place it into the bowl.", "Pick up a leftmost apple slice from the cutting board and place it in the bowl.", "Grab the leftmost apple slice from the cutting board and place it in the bowl.", "Grasp a leftmost apple slice from the cutting board and place it in the bowl.", "Draw a line in the middle of the ipad using the apple pencil.", "Draw a line across the middle of the iPad with the Apple Pencil.", "Use the Apple Pencil to draw a line in the middle of the iPad.", "Draw a line through the middle of the iPad using the Apple Pencil.", "Draw a circular shape on the ipad using the apple pencil.", "Draw a circle on the iPad with the Apple Pencil.", "Use the Apple Pencil to draw a circular shape on the iPad.", "Draw a round shape on the iPad using the Apple Pencil.", "Draw 2 dots in a circle representing the eyes of a stickman.", "Draw 2 dots inside the circle as the eyes of a stickman.", "Add 2 dots in the circle for the eyes of a stickman.", "Draw the eyes of a stickman as 2 dots in a circle.", "Pick up the white object and place it on the red disc.", "Put the white object on the red disc.", "Take a white object and put it onto the red disc.", "Pick up a white object and put it onto the red disc.", "Pick up the white block and place it on the red disc.", "Put a white block on the red disc.", "Grab a white block and put it onto the red disc.", "Grab the white block and place it onto the red disc.", "Pick up the orange cube and place it in the pink cup.", "Take an orange cube and place it into the pink cup.", "Pick up an orange cube and put it in the pink cup.", "Grasp an orange cube and place it in the pink cup.", "Pick up the orange cube and place it in the white box.", "Pick up the orange cube and put it into the white box.", "Grasp an orange cube and put it into the white box.", "Pick up the orange cube and put it in the white box.", "Pick up the cube and place it in the wooden box.", "Take the cube and put it into the wooden box.", "Grab a cube and put it into the wooden box.", "Grab the cube and put it in the wooden box.", "Pick up the blue lego brick and place it in the white container.", "Grab a blue lego brick and place it into the white container.", "Grasp a blue lego brick and put it into the white container.", "Put the blue lego brick in the white container.", "Grasp the red marker eraser and place it on the pink notebook.", "Grasp a red marker eraser and put it on the pink notebook.", "Grasp the red marker eraser and put it on the pink notebook.", "Grasp the red marker eraser and put it onto the pink notebook.", "Place blue block on red block, then place yellow block on blue block.", "Grasp blue block and place it onto red block, then place yellow block on blue block.", "Put blue block on red block, then place yellow block on blue block.", "Place blue block onto red block, then place yellow block on blue block.", "Pick up the blue block and place it on top of the red block.", "Put the blue block on top of the red block.", "Pick up a blue block and put it on top of the red block.", "Grasp a blue block and put it on top of the red block.", "Grasp a nerf arrow and put it in the bin.", "Grasp a nerf arrow and place it in the bin.", "Take the nerf arrow and place it in the bin.", "Grasp the nerf arrow and place it into the bin.", "Grasp the white object and put it in the circle.", "Take the white object and place it in the circle.", "Take the white object and put it into the circle.", "Grab a white object and place it in the circle.", "Pick up the roll of tape and place it in the metal box.", "Pick up a roll of tape and put it in the metal box.", "Grasp the roll of tape and place it in the metal box.", "Pick up a roll of tape and place it into the metal box.", "Unplug the cable.", "Pull out the cable.", "Disconnect the cable.", "Pull the cable out of its socket.", "Put the gray cube in the white square.", "Grasp a gray cube and place it into the white square.", "Place a gray cube into the white square.", "Grasp the gray cube and place it into the white square.", "Pick up the pink cube and put it in the blue bowl.", "Take the pink cube and place it in the blue bowl.", "Take a pink cube and put it into the blue bowl.", "Pick up a pink cube and place it in the blue bowl.", "Pick up the eraser.", "Take an eraser.", "Pick up an eraser.", "Take the eraser.", "Pick up the cable and place it inside the tin box.", "Put a cable inside the tin box.", "Take a cable and place it inside the tin box.", "Pick up the cable and put it inside the tin box.", "Pick up the blue pompom and place it in the tin box.", "Take a blue pompom and put it in the tin box.", "Pick up a blue pompom and place it in the tin box.", "Take a blue pompom and place it into the tin box.", "Pick up the red cube and place it in the white square.", "Take the red cube and put it into the white square.", "Pick up the red cube and place it into the white square.", "Grasp the red cube and put it in the white square.", "Pick up the small orange ball and place it in the metal bowl.", "Take a small orange ball and place it into the metal bowl.", "Pick up the small orange ball and put it in the metal bowl.", "Grasp the small orange ball and place it into the metal bowl.", "Pick up the brush and place it in the green tray.", "Grasp the brush and put it in the green tray.", "Pick up the brush and place it into the green tray.", "Grab the brush and place it into the green tray.", "Grasp the white block and put it on the white card.", "Take a white block and put it on the white card.", "Grab a white block and put it onto the white card.", "Grab the white block and put it onto the white card.", "Close the drawer.", "Shut the drawer.", "Push the drawer closed.", "Close the open drawer.", "Grasp a tape and put it in the target area.", "Grab the tape and place it in the target area.", "Grab a tape and put it in the target area.", "Grab a tape and place it in the target area.", "Pick up the yellow stick and put it in the black box.", "Pick up a yellow stick and place it into the black box.", "Grasp a yellow stick and put it in the black box.", "Grasp the yellow stick and place it into the black box.", "Fold the yellow blanket.", "Fold up the yellow blanket.", "Fold the yellow blanket over.", "Fold the yellow towel.", "Fold up the yellow towel.", "Fold the yellow towel over.", "Pick up the roll of tape and place it on the white box.", "Grab the roll of tape and put it onto the white box.", "Grasp a roll of tape and put it on the white box.", "Grab a roll of tape and place it onto the white box.", "Grab the coffee stick and send it out of the area.", "Pick up the coffee stick and move it out of the area.", "Grasp the coffee stick and take it out of the area.", "Remove the coffee stick from the area.", "Pick up the yellow cube and place it on top of the box.", "Take the yellow cube and put it on top of the box.", "Grasp a yellow cube and place it on top of the box.", "Grab the yellow cube and place it on top of the box.", "Pick up the red cube and place it in the green bin.", "Take a red cube and place it into the green bin.", "Grab the red cube and place it in the green bin.", "Put a red cube in the green bin.", "Pick up the yellow cube and place it in the green bin.", "Grab a yellow cube and place it into the green bin.", "Take a yellow cube and put it in the green bin.", "Put the yellow cube in the green bin.", "Grab a lego block and put it in the white box.", "Pick up the lego block and place it in the white box.", "Pick up a lego block and place it into the white box.", "Pick up the lego block and place it into the white box.", "Grasp the basketball and place it into the cup.", "Take the basketball and put it into the cup.", "Grasp a basketball and place it in the cup.", "Grasp the basketball and put it in the cup.", "Grasp a block and put it in the cup.", "Grab a block and put it in the cup.", "Grasp a block and place it into the cup.", "Pick up the block and place it into the cup.", "Pick up the yellow block and place it in the yellow basket.", "Take the yellow block and place it into the yellow basket.", "Pick up the yellow block and put it in the yellow basket.", "Grasp a yellow block and place it in the yellow basket.", "Pick up the dice.", "Take the dice.", "Take a dice.", "Grasp the dice.", "Pick up the dice on the left.", "Grab a dice on the left.", "Take a dice on the left.", "Grasp a dice on the left.", "Pick up the dice on the center.", "Grab the dice on the center.", "Grab a dice on the center.", "Grasp a dice on the center.", "Pick up the dice on the right.", "Take the dice on the right.", "Take a dice on the right.", "Grasp the dice on the right.", "Pick up the red dice and place in bowl.", "Pick up the red dice and put it in bowl.", "Grasp the red dice and place it in bowl.", "Pick up the red dice and place it in bowl.", "Pick up the yellow dice and place in bowl.", "Take the yellow dice and put it into bowl.", "Take the yellow dice and put it in bowl.", "Grab a yellow dice and place it in bowl.", "Pick up the lego figure and place in bowl.", "Grasp a lego figure and place it in bowl.", "Pick up the lego figure and put it in bowl.", "Grasp a lego figure and place it into bowl.", "Pick up the red car and place in bowl.", "Pick up a red car and place it in bowl.", "Pick up the red car and place it in bowl.", "Grasp the red car and put it into bowl.", "Pick up the red and black lego figure and place in bowl.", "Grab a red and black lego figure and put it in bowl.", "Pick up the red and black lego figure and put it in bowl.", "Take a red and black lego figure and put it into bowl.", "Pick up the small yellow object and place it in the metal bowl.", "Grab a small yellow object and place it in the metal bowl.", "Pick up a small yellow object and put it in the metal bowl.", "Grasp the small yellow object and place it into the metal bowl.", "Pick up the toy red car and place in bowl.", "Take the toy red car and place it into bowl.", "Grasp the toy red car and place it into bowl.", "Pick up a toy red car and place it into bowl.", "Pick up the iPhone charger block and put it in the white rack.", "Put the iPhone charger block in the white rack.", "Pick up an iPhone charger block and put it into the white rack.", "Take an iPhone charger block and place it into the white rack.", "Pick the ball and put it in the box.", "Grab a ball and place it into the box.", "Grab the ball and place it in the box.", "Grasp a ball and place it into the box.", "Pick up the banana and place it on the white plate.", "Pick up the banana and put it on the white plate.", "Grasp the banana and put it onto the white plate.", "Grab the banana and place it on the white plate.", "Grab the candle wick and place it in the tray.", "Grasp a candle wick and put it into the tray.", "Grab the candle wick and place it into the tray.", "Pick up a candle wick and place it in the tray.", "Grab the candle wick by the aluminium plate and place it in the tray.", "Take a candle wick by the aluminium plate and put it in the tray.", "Pick up the candle wick by the aluminium plate and put it into the tray.", "Grasp a candle wick by the aluminium plate and place it in the tray.", "Pick up the yellow sponge and place it in the metal tin.", "Grab the yellow sponge and put it into the metal tin.", "Take the yellow sponge and put it into the metal tin.", "Take a yellow sponge and place it into the metal tin.", "Pick up the cylinder and place it inside the glass container.", "Pick up a cylinder and place it inside the glass container.", "Pick up the cylinder and put it inside the glass container.", "Grab a cylinder and put it inside the glass container.", "Pick up the wooden block and put it in the paper cup.", "Grab a wooden block and put it into the paper cup.", "Take a wooden block and put it into the paper cup.", "Take the wooden block and put it in the paper cup.", "Pick up the eraser and place it in the box.", "Pick up an eraser and put it in the box.", "Grab the eraser and place it into the box.", "Put the eraser in the box.", "Pick up the eraser and put it in the box.", "Grab the eraser and put it in the box.", "Take an eraser and place it into the box.", "Put the yellow lid on the yellow bottle.", "Grasp a yellow lid and place it onto the yellow bottle.", "Pick up a yellow lid and put it on the yellow bottle.", "Place a yellow lid onto the yellow bottle.", "Pick up the yellow block and place it in the black pan.", "Take a yellow block and put it into the black pan.", "Put the yellow block in the black pan.", "Take the yellow block and place it in the black pan.", "Pick up the red lego brick and place it in the black pan.", "Grasp the red lego brick and place it into the black pan.", "Pick up a red lego brick and place it into the black pan.", "Take a red lego brick and place it into the black pan.", "Pick up the blue marker.", "Take a blue marker.", "Grasp the blue marker.", "Take the blue marker.", "Pick up the red marker.", "Take a red marker.", "Take the red marker.", "Pick up a red marker.", "Pick up the green marker.", "Grasp a green marker.", "Take the green marker.", "Grab the green marker.", "Pick up the black marker.", "Grab the black marker.", "Grab a black marker.", "Pick up a black marker.", "Pick up the blue cube and place it in the wooden box.", "Grasp a blue cube and place it in the wooden box.", "Pick up the blue cube and put it in the wooden box.", "Grab a blue cube and place it in the wooden box.", "Place the cube in the square of the same color.", "Grasp the cube and place it into the square of the same color.", "Put the cube in the square of the same color.", "Pick up a cube and put it in the square of the same color.", "Grasp a sky-blue doll and put it in the white bowl.", "Grasp the sky-blue doll and place it into the white bowl.", "Grab the sky-blue doll and place it into the white bowl.", "Grab a sky-blue doll and put it in the white bowl.", "Pick up the wooden blocks and place them on the plate.", "Take the wooden blocks and put them onto the plate.", "Grab the wooden blocks and place them on the plate.", "Grab the wooden blocks and put them onto the plate.", "Pick up the green lego block and put it in the clear cup.", "Put the green lego block in the clear cup.", "Pick up a green lego block and put it into the clear cup.", "Pick up a green lego block and place it into the clear cup.", "Pick up the box.", "Take the box.", "Grasp a box.", "Grasp the box.", "Pick up the green lego brick and place it in the white basket.", "Grasp a green lego brick and put it in the white basket.", "Grab the green lego brick and put it in the white basket.", "Grab the green lego brick and place it in the white basket.", "Grasp a sky-blue doll and put it into the bowl.", "Put the sky-blue doll into the bowl.", "Put a sky-blue doll into the bowl.", "Pick up a sky-blue doll and put it in the bowl.", "Grasp a mini car and put it in the bin.", "Pick up a mini car and put it into the bin.", "Pick up a mini car and put it in the bin.", "Take a mini car and put it into the bin.", "Pick up the white charger and put it inside the ring.", "Put the white charger inside the ring.", "Take the white charger and place it inside the ring.", "Take the white charger and put it inside the ring.", "Pick up the white ball and place it in the pink cup.", "Grasp the white ball and place it in the pink cup.", "Grab a white ball and place it into the pink cup.", "Pick up a white ball and place it into the pink cup.", "Put bottle cap(s) into a cup.", "Grasp bottle cap(s) and place them in a cup.", "Pick up bottle cap(s) and put them into a cup.", "Place bottle cap(s) in a cup.", "Put pebbles into a cup.", "Pick up pebbles and put them into a cup.", "Place pebbles in a cup.", "Grasp pebbles and place them in a cup.", "Put a bottle cap into a cup.", "Put the bottle cap into a cup.", "Pick up the bottle cap and put it into a cup.", "Grasp the bottle cap and place it in a cup.", "Pick up the teal bottle cap.", "Pick up a teal bottle cap.", "Grasp the teal bottle cap.", "Take the teal bottle cap.", "Pick up the red domino.", "Grab a red domino.", "Grasp a red domino.", "Take a red domino.", "Pick up the domino and drop it on the yellow disc.", "Grasp the domino and place it onto the yellow disc.", "Grasp the domino and put it on the yellow disc.", "Grab the domino and put it on the yellow disc.", "Build a Hanoi Tower.", "Build the Tower of Hanoi.", "Solve the Tower of Hanoi.", "Stack the blocks into a Tower of Hanoi.", "Move the stacked blocks to solve the Tower of Hanoi.", "Solve the Tower of Hanoi with the stacked blocks.", "Move the stacked blocks to complete the Tower of Hanoi puzzle.", "Rearrange the stacked blocks to solve the Tower of Hanoi.", "Throw block in a hole.", "Throw the block into a hole.", "Drop the block in a hole.", "Toss a block into the hole.", "Pick up the blue block and place it in the paper cup.", "Grab a blue block and put it in the paper cup.", "Put the blue block in the paper cup.", "Grasp the blue block and place it in the paper cup.", "Pick up the orange plush and place it in the paper cup.", "Take the orange plush and put it in the paper cup.", "Pick up the orange plush and place it into the paper cup.", "Take the orange plush and place it in the paper cup.", "Flip the A0 card on the board.", "Flip over the A0 card on the board.", "Turn over the A0 card on the board.", "Flip card A0 on the board.", "Flip the A2 card on the board.", "Flip over the A2 card on the board.", "Turn over the A2 card on the board.", "Flip card A2 on the board.", "Flip the A3 card on the board.", "Flip over the A3 card on the board.", "Turn over the A3 card on the board.", "Flip card A3 on the board.", "Grab kapla pieces and build a two level tower.", "Use the kapla pieces to build a two-level tower.", "Build a two level tower out of kapla pieces.", "Stack the kapla pieces into a two-level tower.", "Grab the kapla pieces and build a two level tower.", "Build a two level tower out of the kapla pieces.", "Grasp a pink glass and pile it on the other pink glass.", "Stack a pink glass on the other pink glass.", "Pick up a pink glass and put it on top of the other pink glass.", "Place a pink glass on top of the other pink glass.", "Grasp the iron and solder the electronic board.", "Pick up the soldering iron and solder the electronic board.", "Use the iron to solder the electronic board.", "Take the iron and solder the circuit board.", "Solder the electronic board.", "Solder the circuit board.", "Do the soldering on the electronic board.", "Grasp the orange cup and stack it in the blue cup.", "Grasp the orange cup and place it in the blue cup.", "Grab an orange cup and place it in the blue cup.", "Take the orange cup and put it into the blue cup.", "Pick up the cup and stack it on the other cup.", "Grasp a cup and place it onto the other cup.", "Grab the cup and put it on the other cup.", "Pick up the cup and put it on the other cup.", "Move blocks one by one until all three blocks are in the tray.", "Move the blocks into the tray one at a time until all three are in it.", "Place all three blocks into the tray, one block at a time.", "Grasp a cucumber and put it in the hole.", "Put the cucumber in the hole.", "Take the cucumber and place it in the hole.", "Pick up the cucumber and place it into the hole.", "Pick up a lego brick.", "Grasp a lego brick.", "Take the lego brick.", "Pick up the lego brick.", "Put all lego bricks in the bin.", "Grasp all lego bricks and place them into the bin.", "Pick up all lego bricks and put them in the bin.", "Place all lego bricks into the bin.", "Find the closest Lego brick and put it in the white bin.", "Pick up the nearest Lego brick and put it in the white bin.", "Take the closest Lego brick and place it in the white bin.", "Grab the Lego brick closest to you and drop it in the white bin.", "Grasp the closest Lego brick and drop it in the white bin.", "Pick up the metal tool.", "Grab the metal tool.", "Take a metal tool.", "Take the metal tool.", "Grasp a toy truck and put it onto the red notebook.", "Put the toy truck onto the red notebook.", "Take a toy truck and place it onto the red notebook.", "Take the toy truck and put it on the red notebook.", "Push the box onto the target square.", "Slide the box onto the target square.", "Push the box until it is on the target square.", "Shove the box onto the target square.", "Pick up a new token and place it in the grid on square A1.", "Take a new token and place it in the grid on square A1.", "Grasp the new token and place it in the grid on square A1.", "Put the new token in the grid on square A1.", "Pick up the round, orange token and place it in the grid on square A1.", "Grasp the round, orange token and place it in the grid on square A1.", "Pick up a round, orange token and put it in the grid on square A1.", "Grasp a round, orange token and put it in the grid on square A1.", "Pick up a new token and place it in the grid on square A2.", "Grasp the new token and put it in the grid on square A2.", "Grab a new token and put it in the grid on square A2.", "Put the new token in the grid on square A2.", "Pick up the round, orange token and place it in the grid on square A2.", "Pick up the round, orange token and put it in the grid on square A2.", "Grasp a round, orange token and place it in the grid on square A2.", "Pick up a round, orange token and put it in the grid on square A2.", "Pick up a new token and place it in the grid on square A3.", "Take a new token and put it in the grid on square A3.", "Take the new token and place it in the grid on square A3.", "Put the new token in the grid on square A3.", "Pick up the round, orange token and place it in the grid on square A3.", "Grab the round, orange token and place it in the grid on square A3.", "Put a round, orange token in the grid on square A3.", "Take a round, orange token and place it in the grid on square A3.", "Pick up a new token and place it in the grid on square B1.", "Grasp a new token and put it in the grid on square B1.", "Take the new token and place it in the grid on square B1.", "Grab the new token and place it in the grid on square B1.", "Pick up the round, orange token and place it in the grid on square B1.", "Grasp the round, orange token and put it in the grid on square B1.", "Grasp a round, orange token and place it in the grid on square B1.", "Take the round, orange token and put it in the grid on square B1.", "Pick up a new token and place it in the grid on square B2.", "Grab the new token and place it in the grid on square B2.", "Grab a new token and place it in the grid on square B2.", "Pick up the new token and place it in the grid on square B2.", "Pick up the round, orange token and place it in the grid on square B2.", "Grasp a round, orange token and put it in the grid on square B2.", "Put the round, orange token in the grid on square B2.", "Take a round, orange token and put it in the grid on square B2.", "Pick up a new token and place it in the grid on square B3.", "Take the new token and put it in the grid on square B3.", "Put the new token in the grid on square B3.", "Take a new token and put it in the grid on square B3.", "Pick up the round, orange token and place it in the grid on square B3.", "Put the round, orange token in the grid on square B3.", "Grasp a round, orange token and put it in the grid on square B3.", "Take the round, orange token and put it in the grid on square B3.", "Pick up a new token and place it in the grid on square C1.", "Put a new token in the grid on square C1.", "Grab the new token and place it in the grid on square C1.", "Take a new token and put it in the grid on square C1.", "Pick up the round, orange token and place it in the grid on square C1.", "Grasp a round, orange token and place it in the grid on square C1.", "Grasp the round, orange token and put it in the grid on square C1.", "Put a round, orange token in the grid on square C1.", "Pick up a new token and place it in the grid on square C2.", "Take a new token and put it in the grid on square C2.", "Grab the new token and place it in the grid on square C2.", "Grasp the new token and place it in the grid on square C2.", "Pick up the round, orange token and place it in the grid on square C2.", "Grab the round, orange token and put it in the grid on square C2.", "Grasp a round, orange token and place it in the grid on square C2.", "Take a round, orange token and put it in the grid on square C2.", "Pick up a new token and place it in the grid on square C3.", "Grab a new token and put it in the grid on square C3.", "Take the new token and place it in the grid on square C3.", "Take the new token and put it in the grid on square C3.", "Pick up the round, orange token and place it in the grid on square C3.", "Put the round, orange token in the grid on square C3.", "Grab the round, orange token and place it in the grid on square C3.", "Put a round, orange token in the grid on square C3.", "Pick up the yellow object and place it in the orange basket.", "Pick up the yellow object and put it into the orange basket.", "Pick up a yellow object and place it in the orange basket.", "Grasp the yellow object and place it into the orange basket.", "Grasp tied cables and put them in the cup.", "Pick up tied cables and put them in the cup.", "Grasp tied cables and place them in the cup.", "Pick up tied cables and place them into the cup.", "Put the red cube in the right box and the blue cube in the left box.", "Pick up a red cube and put it in the right box and the blue cube in the left box.", "Grasp the red cube and place it in the right box and the blue cube in the left box.", "Pick up the red cube and put it in the right box and the blue cube in the left box.", "Pick up the game controller and place it in the green basket.", "Take the game controller and put it into the green basket.", "Grab the game controller and put it in the green basket.", "Take the game controller and put it in the green basket.", "Remove everything from the square.", "Clear everything out of the square.", "Take all the objects out of the square.", "Move everything out of the square.", "Fold the bag from the bottom right corner.", "Fold the bag starting at the bottom right corner.", "Fold the bag from its bottom-right corner.", "Take the bottom right corner and fold the bag.", "Open the top drawer of the teabox.", "Open the teabox's top drawer.", "Pull open the top drawer of the teabox.", "Slide out the top drawer of the teabox.", "Push the red cup to the pink target.", "Slide the red cup to the pink target.", "Push the red cup onto the pink target.", "Move the red cup to the pink target by pushing it.", "Put the banana into the red bowl.", "Pick up the banana and put it into the red bowl.", "Pick up a banana and put it into the red bowl.", "Place a banana in the red bowl.", "Pick the coffee caps and put it into the top drawer of the teabox.", "Grasp the coffee caps and place it into the top drawer of the teabox.", "Grab the coffee caps and put it into the top drawer of the teabox.", "Pick up the coffee caps and place it into the top drawer of the teabox.", "Put the coffee cap into the top drawer of the teabox.", "Pick up a coffee cap and put it into the top drawer of the teabox.", "Put a coffee cap into the top drawer of the teabox.", "Place a coffee cap into the top drawer of the teabox.", "Unfold the bag from bottom right corner.", "Unfold the bag starting from the bottom right corner.", "Unfold the bag from its bottom-right corner.", "Pull the bottom right corner to unfold the bag.", "Grasp a blue lego brick and place it in the brown box.", "Pick up a blue lego brick and place it into the brown box.", "Take the blue lego brick and place it in the brown box.", "Take the blue lego brick and put it into the brown box.", "Grasp a lego figure and put it in the box.", "Take a lego figure and put it into the box.", "Take a lego figure and place it in the box.", "Grab the lego figure and place it in the box.", "Pick up the red object and place it in the cardboard box.", "Grasp the red object and put it into the cardboard box.", "Take the red object and put it in the cardboard box.", "Grab the red object and put it in the cardboard box.", "Pick up the red orange and place it in the cardboard box.", "Take a red orange and place it in the cardboard box.", "Take a red orange and place it into the cardboard box.", "Put a red orange in the cardboard box.", "Pick up the candy and put in the purple bowl.", "Grasp a candy and place it in the purple bowl.", "Grab a candy and put it in the purple bowl.", "Take a candy and put it in the purple bowl.", "Pick up the white round object and place it in the box.", "Take the white round object and place it into the box.", "Grab the white round object and place it in the box.", "Pick up a white round object and place it in the box.", "Pick up the red ball and put it in the blue cup.", "Grasp a red ball and put it in the blue cup.", "Take the red ball and place it into the blue cup.", "Grab the red ball and put it in the blue cup.", "Pick up all the lego then put into the bin.", "Pick up all the lego and place them in the bin.", "Take all the lego and put them into the bin.", "Grasp all the lego and place them into the bin.", "Grasp the blue ball and put it in the yellow bin.", "Take the blue ball and place it in the yellow bin.", "Pick up the blue ball and place it into the yellow bin.", "Grab a blue ball and place it in the yellow bin.", "Grasp the red ball and put it in the yellow bin.", "Grab the red ball and put it in the yellow bin.", "Pick up a red ball and put it in the yellow bin.", "Grab a red ball and place it in the yellow bin.", "Grasp all balls and put them in the yellow bin.", "Grab all balls and place them in the yellow bin.", "Put all balls in the yellow bin.", "Take all balls and put them into the yellow bin.", "Grasp all balls and put them in the yello bin.", "Grab all balls and put them in the yello bin.", "Grab all balls and place them in the yello bin.", "Take all balls and put them into the yello bin.", "Grasp blue balls and put them in the yello bin.", "Grab blue balls and put them in the yello bin.", "Grasp blue balls and place them in the yello bin.", "Grab blue balls and put them into the yello bin.", "Grasp red balls and put them in the yello bin.", "Grasp red balls and place them into the yello bin.", "Put red balls in the yello bin.", "Take red balls and place them into the yello bin.", "Grasp red balls and put them in the blue bin.", "Take red balls and put them into the blue bin.", "Take red balls and place them in the blue bin.", "Grab red balls and put them into the blue bin.", "Grasp blue balls and put them in the blue bin.", "Take blue balls and place them in the blue bin.", "Take blue balls and put them in the blue bin.", "Grab blue balls and place them in the blue bin.", "Grasp all tape and put them in the bin.", "Take all tape and put them in the bin.", "Pick up all tape and put them into the bin.", "Grasp all tape and place them into the bin.", "Pick up the crumbled paper and place it in the cardboard box.", "Grasp the crumbled paper and put it into the cardboard box.", "Pick up the crumbled paper and place it into the cardboard box.", "Pick up a crumbled paper and place it in the cardboard box.", "Pick up the white square and place it in the blue bin.", "Grab the white square and put it in the blue bin.", "Grasp a white square and place it into the blue bin.", "Pick up a white square and put it in the blue bin.", "Pick up the white cube and place it in the blue bin.", "Take the white cube and place it into the blue bin.", "Take a white cube and put it in the blue bin.", "Pick up the white cube and place it into the blue bin.", "Move a blue block from the tray to the blue dish.", "Take a blue block from the tray and put it in the blue dish.", "Transfer a blue block from the tray to the blue dish.", "Move a blue block out of the tray onto the blue dish.", "Move a red block from the tray to the red dish.", "Take a red block from the tray and put it in the red dish.", "Transfer a red block from the tray to the red dish.", "Move a red block out of the tray onto the red dish.", "Move six blocks from the tray to the matching dishes.", "Move the six blocks from the tray to the dishes of the same color.", "Put six blocks from the tray in their matching dishes.", "Transfer six blocks from the tray to the matching dishes.", "Move two blocks from the tray to the matching dishes.", "Move the two blocks from the tray to the dishes of the same color.", "Put two blocks from the tray in their matching dishes.", "Transfer two blocks from the tray to the matching dishes.", "Grasp a dice block and put it in the correct location.", "Grab a dice block and put it in the correct location.", "Grab the dice block and place it into the correct location.", "Pick up the dice block and put it in the correct location.", "Stack the yellow block on the red block.", "Place the yellow block on top of the red block.", "Put the yellow block on top of the red block.", "Clean the desk.", "Clean up the desk.", "Tidy the desk.", "Clear the desk.", "Grasp a paper box and put it in the bin.", "Take the paper box and put it in the bin.", "Grab the paper box and put it into the bin.", "Grasp the paper box and place it in the bin.", "Pick up the bean bag and put it in the box.", "Take a bean bag and put it into the box.", "Put a bean bag in the box.", "Grab the bean bag and put it in the box.", "Pick up the snack bar and put it in the box.", "Grasp a snack bar and put it into the box.", "Pick up a snack bar and place it in the box.", "Pick up a snack bar and place it into the box.", "Place the cutlery in the same coloured dish.", "Place the cutlery into the same coloured dish.", "Place a cutlery into the same coloured dish.", "Put a cutlery in the same coloured dish.", "Grasp a lego block and put it in the circle.", "Pick up the lego block and put it into the circle.", "Take the lego block and put it in the circle.", "Take the lego block and place it into the circle.", "Sort the lego blocks by color: blue to the left, green to the right.", "Sort the lego blocks by color, putting blue on the left and green on the right.", "Move the blue lego blocks to the left and the green ones to the right.", "Separate the lego blocks by color: blue goes left, green goes right.", "Separate blue and green blocks.", "Separate the blue blocks from the green blocks.", "Sort the blocks into blue and green.", "Split the blue and green blocks apart.", "Stack the blocks.", "Stack the blocks on top of each other.", "Build a stack with the blocks.", "Pile the blocks on top of each other.", "Grasp the right cup and place it on top the left cup.", "Put the right cup on top the left cup.", "Grab a right cup and place it on top the left cup.", "Pick up the right cup and place it on top the left cup.", "Go to the Red Jam.", "Move to the red jam.", "Go to the red jam jar.", "Reach for the red jam.", "Place bagel on jig.", "Put bagel on jig.", "Grasp bagel and place it onto jig.", "Place bagel onto jig.", "Grasp the bagel and put it in the center bin.", "Put the bagel in the center bin.", "Pick up the bagel and place it in the center bin.", "Pick up a bagel and place it in the center bin.", "Grasp a ball and put it in the box.", "Take a ball and put it in the box.", "Pick up the ball and put it into the box.", "Grasp a cube block and put it in the white box.", "Grasp a cube block and put it into the white box.", "Grab the cube block and put it into the white box.", "Take the cube block and place it in the white box.", "Put the green tape measure into the white box.", "Grasp the green tape measure and place it in the white box.", "Pick up the green tape measure and put it into the white box.", "Grasp a green tape measure and place it in the white box.", "Put the packaging box into the white box.", "Pick up the packaging box and put it into the white box.", "Grasp a packaging box and place it in the white box.", "Grasp the packaging box and place it in the white box.", "Put the servo motor packaging box into the white box.", "Place the servo motor packaging box in the white box.", "Place a servo motor packaging box in the white box.", "Pick up a servo motor packaging box and put it into the white box.", "Pick up the green lego block and put it in the red bowl.", "Grasp a green lego block and put it into the red bowl.", "Take a green lego block and place it into the red bowl.", "Grab the green lego block and place it into the red bowl.", "Pick up the green block and place it in the red bowl.", "Put a green block in the red bowl.", "Grab the green block and put it into the red bowl.", "Grab the green block and place it into the red bowl.", "Grab the screw and set it in the hole.", "Take a screw and place it into the hole.", "Take the screw and put it into the hole.", "Take a screw and put it in the hole.", "Pick up the sushi toy and put it on the plate.", "Grasp the sushi toy and put it onto the plate.", "Put a sushi toy on the plate.", "Grab a sushi toy and put it onto the plate.", "Pick up the eraser and put it in the bowl.", "Grab the eraser and put it in the bowl.", "Take the eraser and place it in the bowl.", "Grab an eraser and place it into the bowl.", "Grasp a plug and put it in the bin.", "Take a plug and put it into the bin.", "Grasp the plug and put it in the bin.", "Grab a plug and put it in the bin.", "Pick up the small black object and place it in the black bowl.", "Take a small black object and put it in the black bowl.", "Grasp a small black object and place it into the black bowl.", "Grasp a small black object and put it in the black bowl.", "Grasp a globe and put it in the bin.", "Pick up the globe and place it into the bin.", "Take the globe and place it into the bin.", "Pick up the globe and put it in the bin.", "Grasp the red cubes and put them on the white towel.", "Grab the red cubes and put them onto the white towel.", "Grasp the red cubes and place them on the white towel.", "Grab the red cubes and put them on the white towel.", "Grasp a battery and put it in the box.", "Take the battery and put it into the box.", "Grasp the battery and place it in the box.", "Grab a battery and put it in the box.", "Pick up the hacky sack and put it in the green box.", "Pick up a hacky sack and place it in the green box.", "Grab a hacky sack and place it into the green box.", "Pick up a hacky sack and put it in the green box.", "Grasp a black cylinder and put it in a bowl.", "Grab the black cylinder and place it into a bowl.", "Pick up the black cylinder and put it in a bowl.", "Pick up a black cylinder and place it in a bowl.", "Pick up the black cylinder and put it in the bowl.", "Grasp the black cylinder and put it into the bowl.", "Grab a black cylinder and place it in the bowl.", "Take the black cylinder and put it into the bowl.", "Pick up the 9V battery and put it in the blue box.", "Pick up the 9V battery and put it into the blue box.", "Grab the 9V battery and place it in the blue box.", "Take a 9V battery and put it in the blue box.", "Grasp a lego brick and put it in the basket.", "Take the lego brick and place it in the basket.", "Pick up the lego brick and put it in the basket.", "Grasp the lego brick and put it in the basket.", "Grasp a whale and put it in the plate.", "Put a whale in the plate.", "Pick up a whale and place it in the plate.", "Grasp the whale and put it into the plate.", "Grab an orange square and put it in the brown box.", "Grab the orange square and place it in the brown box.", "Grasp an orange square and place it into the brown box.", "Take the orange square and place it into the brown box.", "Grab a blue square and put it in the brown box.", "Grab the blue square and place it into the brown box.", "Grasp the blue square and put it in the brown box.", "Take a blue square and place it in the brown box.", "Grab a yellow square and put it in the brown box.", "Pick up a yellow square and put it into the brown box.", "Take a yellow square and place it in the brown box.", "Grab a yellow square and place it in the brown box.", "Grab a green square and put it in the brown box.", "Grasp a green square and put it into the brown box.", "Grab the green square and put it in the brown box.", "Pick up a green square and put it in the brown box.", "Pick up the roman numeral II.", "Grasp the roman numeral II.", "Grasp a roman numeral II.", "Take the roman numeral II.", "Pick the chicken and place it to the right.", "Grasp a chicken and put it to the right.", "Put the chicken to the right.", "Take the chicken and place it to the right.", "Pick the cow and place it to the right.", "Grasp a cow and put it to the right.", "Put the cow to the right.", "Take the cow and place it to the right.", "Pick the sheep and place it to the right.", "Pick up a sheep and put it to the right.", "Put a sheep to the right.", "Take a sheep and put it to the right.", "Pick up the marker and place it in the clear box.", "Grasp the marker and put it into the clear box.", "Take a marker and place it in the clear box.", "Grab the marker and put it into the clear box.", "Pick up the green lego brick and place it in the black bowl.", "Grasp a green lego brick and place it into the black bowl.", "Grab a green lego brick and place it into the black bowl.", "Grasp the green lego brick and put it in the black bowl.", "Sort medicines into box.", "Sort the medicines into the box.", "Sort the medicine into the box.", "Put the medicines into the box, sorted.", "Organize the medicines in the box.", "Put the medicines in the box, sorted.", "Grab the water bottle.", "Take a water bottle.", "Pick up the water bottle.", "Take the water bottle.", "Pick up the green pompom and put it in the green bowl.", "Grasp the green pompom and place it into the green bowl.", "Take a green pompom and put it in the green bowl.", "Grab a green pompom and put it in the green bowl.", "Grasp a yellow pompom and put it in the yellow bowl.", "Pick up a yellow pompom and place it in the yellow bowl.", "Grab the yellow pompom and put it in the yellow bowl.", "Grasp the yellow pompom and put it into the yellow bowl.", "Pick up the yellow pompom and place it in the yellow bowl.", "Pick up the yellow pompom and place it into the yellow bowl.", "Put a yellow pompom in the yellow bowl.", "Pick up the black tape and place it in the cardboard box.", "Take a black tape and put it in the cardboard box.", "Pick up the black tape and put it in the cardboard box.", "Grab the black tape and put it in the cardboard box.", "Put the screwdriver into the black frame.", "Place a screwdriver in the black frame.", "Pick up a screwdriver and put it into the black frame.", "Grasp a screwdriver and place it in the black frame.", "Pick up the red gum and place it in the blue bin.", "Put a red gum in the blue bin.", "Take the red gum and put it into the blue bin.", "Pick up a red gum and place it in the blue bin.", "Put all blocks into the box.", "Place all blocks in the box.", "Grasp all blocks and place them in the box.", "Pick up all blocks and put them into the box.", "Grasp some building blocks and build the house on the picture.", "Use the building blocks to build the house shown in the picture.", "Build the house from the picture with the building blocks.", "Pick up building blocks and build the house in the picture.", "Pick up the wheel and put it on the box.", "Put the wheel on the box.", "Place the wheel onto the box.", "Put a wheel on the box.", "Grasp a wheel and place it onto the box.", "Pick up the wheel and put it in the box.", "Grab a wheel and place it in the box.", "Grab a wheel and place it into the box.", "Take the wheel and place it into the box.", "Grasp the wheel and place it on the box.", "Grasp a wheel and put it on the box.", "Grasp a wheel and put it in the bin.", "Grab a wheel and put it in the bin.", "Pick up the wheel and put it into the bin.", "Take a wheel and put it in the bin.", "Grasp a wheel and place it in the bin.", "Pick up a wheel and place it into the bin.", "Grasp a wheel and put it into the bin.", "Take a wheel and place it into the bin.", "Grasp a wheel and place it in to the moving bin.", "Grasp a wheel and put it in to the moving bin.", "Take the wheel and put it into to the moving bin.", "Grasp a wheel and put it into to the moving bin.", "Place the coffee capsule into the metal cup.", "Put a coffee capsule into the metal cup.", "Grasp the coffee capsule and place it in the metal cup.", "Grasp a coffee capsule and place it in the metal cup.", "Grasp a peg and put it in the crate.", "Take the peg and place it in the crate.", "Grab a peg and place it into the crate.", "Grab a peg and put it in the crate.", "Pick up the red object and place it in the box.", "Grasp the red object and place it into the box.", "Grasp the red object and place it in the box.", "Grab a red object and put it into the box.", "Grasp the green tool and herd all the particles into the grey bin.", "Use the green tool to herd all the particles into the grey bin.", "Pick up the green tool and push all the particles into the grey bin.", "Hold the green tool and sweep all the particles into the grey bin.", "Grasp a green tool by the dark brown handle.", "Pick up the green tool by the dark brown handle.", "Grasp the green tool by the dark brown handle.", "Pick up a green tool by the dark brown handle.", "Gather the left side granules.", "Gather the granules on the left side.", "Collect the granules on the left side.", "Gather up the left-side granules.", "Gather the right side granules.", "Gather the granules on the right side.", "Collect the granules on the right side.", "Gather up the right-side granules.", "Gather the bottom side granules.", "Gather the granules on the bottom side.", "Collect the granules at the bottom.", "Gather up the bottom-side granules.", "Push granules from left to the grey container.", "Push the granules from the left to the grey container.", "Sweep the left-side granules over to the grey container.", "Push the granules on the left toward the grey container.", "Push granules from right to the grey container.", "Push the granules from the right to the grey container.", "Sweep the right-side granules over to the grey container.", "Push the granules on the right toward the grey container.", "Push granules from bottom to the grey container.", "Push the granules from the bottom to the grey container.", "Sweep the bottom granules over to the grey container.", "Push the granules at the bottom toward the grey container.", "Grasp a blue cylinder and put it inside the red container.", "Take a blue cylinder and put it inside the red container.", "Grab the blue cylinder and place it inside the red container.", "Pick up the blue cylinder and put it inside the red container.", "Grasp a blue block and put it inside the yellow bin.", "Take the blue block and place it inside the yellow bin.", "Put a blue block inside the yellow bin.", "Grasp the blue block and place it inside the yellow bin.", "Pick up the yellow block and put it in the green cup.", "Take a yellow block and place it into the green cup.", "Grab the yellow block and place it in the green cup.", "Take the yellow block and place it in the green cup.", "Pick up the acorn and drop it in the orange cup.", "Take an acorn and put it in the orange cup.", "Take the acorn and put it into the orange cup.", "Take an acorn and place it into the orange cup.", "Pick up the red ball and put it in the green cup.", "Pick up a red ball and put it in the green cup.", "Put a red ball in the green cup.", "Grasp a red ball and place it into the green cup.", "Pick up the red block and put it in the green cup.", "Grab a red block and place it into the green cup.", "Pick up the red block and place it in the green cup.", "Grasp the red block and put it in the green cup.", "Grasp the shape and place it on the puzzle board.", "Pick up a shape and put it on the puzzle board.", "Grab a shape and put it on the puzzle board.", "Grasp a shape and put it onto the puzzle board.", "Pick up the yellow shape and put it in the matching slot of the shape board.", "Pick up a yellow shape and put it in the matching slot of the shape board.", "Grab a yellow shape and place it into the matching slot of the shape board.", "Grab the yellow shape and place it into the matching slot of the shape board.", "Pick up the blue cube and place it in the white bowl.", "Grab a blue cube and put it in the white bowl.", "Grasp the blue cube and put it into the white bowl.", "Grab the blue cube and put it in the white bowl.", "Grasp the cube and drop it in the bowl.", "Grab the cube and put it in the bowl.", "Put a cube in the bowl.", "Grab the cube and put it into the bowl.", "Pick up the yellow cube and place it in the green cup.", "Pick up a yellow cube and put it in the green cup.", "Pick up a yellow cube and place it in the green cup.", "Grasp the yellow cube and put it in the green cup.", "Grasp an apple and move it outside the mat.", "Pick up the apple and move it off the mat.", "Take an apple and put it outside the mat.", "Move the apple outside the mat.", "Stack the gold card deck on top of the white card deck.", "Put the gold card deck on top of the white card deck.", "Place the gold card deck on top of the white card deck.", "Stack the gold card deck on the white card deck.", "Grasp the marker and place it next to the deck of cards.", "Pick up the marker and put it next to the deck of cards.", "Pick up the marker and place it next to the deck of cards.", "Pick up a marker and put it next to the deck of cards.", "Stack the red block on the other red block.", "Place the red block on top of the other red block.", "Put the red block on top of the other red block.", "Stack a lego block on another block.", "Place a lego block on top of another block.", "Put a lego block on top of another block.", "Pick up the blue block and place it in the box.", "Take the blue block and put it into the box.", "Take a blue block and place it into the box.", "Grab the blue block and put it in the box.", "Pick up the lego brick and place it inside the tape roll.", "Grab a lego brick and place it inside the tape roll.", "Pick up the lego brick and put it inside the tape roll.", "Grasp the lego brick and put it inside the tape roll.", "Pick up the ball and place it in the white box.", "Grasp the ball and put it in the white box.", "Take a ball and place it into the white box.", "Grab the ball and put it in the white box.", "Pick up the red lego brick and place it in the white box.", "Grasp the red lego brick and place it into the white box.", "Pick up the red lego brick and put it in the white box.", "Put the red lego brick in the white box.", "Pick the red lego block and put it in the box.", "Pick up the red lego block and place it in the box.", "Pick up a red lego block and put it in the box.", "Pick up a red lego block and place it in the box.", "Grasp a yellow lego block and put it into the box.", "Grab the yellow lego block and place it into the box.", "Pick up the Rubik's cube and put it in the red cup.", "Grasp a Rubik's cube and place it into the red cup.", "Pick up a Rubik's cube and put it in the red cup.", "Put a Rubik's cube in the red cup.", "Pick the green lego block and put it in the box.", "Grab the green lego block and put it in the box.", "Grab the green lego block and put it into the box.", "Grab a green lego block and put it in the box.", "Pick up the pill bottle and place it in the black box.", "Grasp the pill bottle and put it into the black box.", "Grasp the pill bottle and place it into the black box.", "Take a pill bottle and place it in the black box.", "Pick up the yellow packet and place it in the white bowl.", "Take a yellow packet and place it in the white bowl.", "Grab a yellow packet and place it in the white bowl.", "Take the yellow packet and place it into the white bowl.", "Pick up the toys and place them in the blue bin.", "Pick up the toys and put them in the blue bin.", "Take the toys and put them in the blue bin.", "Grab the toys and place them into the blue bin.", "Grasp a pengrip and put it in the cup.", "Grab the pengrip and place it into the cup.", "Pick up a pengrip and put it in the cup.", "Take a pengrip and put it in the cup.", "Pick up the eraser and put it in the cup.", "Grasp an eraser and put it into the cup.", "Pick up the eraser and put it into the cup.", "Grasp an eraser and put it in the cup.", "Pick up the cube and put it in the metal cup.", "Pick up a cube and put it in the metal cup.", "Take the cube and put it in the metal cup.", "Put a cube in the metal cup.", "Grasp a gauze and put it in the cup.", "Grab a gauze and put it into the cup.", "Take a gauze and place it into the cup.", "Pick up a gauze and place it in the cup.", "Stack cubes from left to right.", "Stack the cubes from left to right.", "Stack the cubes, going from left to right.", "Build a stack of the cubes from left to right.", "Stack the cubes in order from left to right.", "Pick a purple die and put it on the plate.", "Pick up the purple die and put it onto the plate.", "Grasp a purple die and place it onto the plate.", "Take the purple die and put it on the plate.", "Pick up the die showing number 6.", "Grasp the die showing number 6.", "Grab the die showing number 6.", "Grab a die showing number 6.", "Pick up the blue spray bottle and place it in the clear box.", "Take the blue spray bottle and place it in the clear box.", "Grasp the blue spray bottle and put it in the clear box.", "Grab the blue spray bottle and put it in the clear box.", "Pick a white block and place it in the black box.", "Grasp a white block and put it into the black box.", "Put the white block in the black box.", "Grab a white block and place it in the black box.", "Pick blocks and place them in the box.", "Put blocks in the box.", "Grab blocks and place them in the box.", "Take blocks and put them in the box.", "Pick up the white block and put it in the paper cup.", "Grab the white block and place it in the paper cup.", "Put a white block in the paper cup.", "Take a white block and place it into the paper cup.", "Pick up the pink block.", "Grab the pink block.", "Take the pink block.", "Take a pink block.", "Pick up the bunny toy and put it in the box.", "Grab the bunny toy and put it in the box.", "Grab the bunny toy and put it into the box.", "Grab the bunny toy and place it into the box.", "Pick the bunny up and put it in the box.", "Grab the bunny up and put it in the box.", "Pick up a bunny up and put it in the box.", "Grab the bunny up and place it in the box.", "Grasp an orange object and put it in the white box.", "Grasp the orange object and put it into the white box.", "Grasp an orange object and place it into the white box.", "Take the orange object and put it in the white box.", "Pick up the USB stick and place it on top of the silicone container.", "Take an USB stick and put it on top of the silicone container.", "Grasp an USB stick and place it on top of the silicone container.", "Pick up an USB stick and place it on top of the silicone container.", "Grasp the black cup, lift it towards the plant pot, tilt the cup to pour out its contents, tilt it back, and return it to its original position.", "Pick up the black cup, pour its contents over the plant pot, and put the cup back in its original position.", "Grasp the black cup, tilt it over the plant pot to pour, then tilt it back and return it to its original position.", "Lift the black cup to the plant pot, pour it out, and put the cup back in its original position.", "Pick up the lego block and put it in the yellow box.", "Grasp the lego block and put it in the yellow box.", "Pick up a lego block and place it in the yellow box.", "Take the lego block and place it in the yellow box.", "Pick up the eraser and put it in the round bowl.", "Grab an eraser and put it into the round bowl.", "Grasp the eraser and place it into the round bowl.", "Grab the eraser and place it in the round bowl.", "Pick up the red stick and put it in the petri dish.", "Pick up the red stick and place it into the petri dish.", "Pick up the red stick and place it in the petri dish.", "Grasp a red stick and put it in the petri dish.", "Put an object in the box.", "Grasp the object and place it into the box.", "Grasp an object and place it into the box.", "Place an object into the box.", "Pick up the ball and place it in the hole.", "Grab a ball and place it into the hole.", "Grasp a ball and place it into the hole.", "Grasp a ball and put it in the hole.", "Stack 3 blocks on the chosen place.", "Put 3 blocks on top of the chosen place.", "Place 3 blocks on top of the chosen place.", "Stack the 3 blocks.", "Stack the 3 blocks on top of each other.", "Build a stack of the 3 blocks.", "Pile up the 3 blocks.", "Stack the three blocks in color order.", "Stack the three blocks ordered by color.", "Stack the three blocks in the order of their colors.", "Build a stack of the three blocks in color order.", "Grasp the sunglasses and put them in the bin.", "Grasp the sunglasses and place them in the bin.", "Pick up the sunglasses and put them in the bin.", "Take the sunglasses and place them into the bin.", "Grasp the glasses and put them in the bin.", "Pick up the glasses and put them in the bin.", "Grab the glasses and put them into the bin.", "Take the glasses and put them in the bin.", "Turn the button of the vending machine.", "Turn the vending machine's button.", "Rotate the button on the vending machine.", "Twist the button of the vending machine.", "Pick up the black block and place it on the brown board.", "Grasp a black block and put it on the brown board.", "Grab the black block and put it on the brown board.", "Grasp the black block and place it onto the brown board.", "Pick up the black block and put it in the box.", "Grab the black block and place it in the box.", "Grasp a black block and place it into the box.", "Grasp the black block and place it into the box.", "Grasp a box and move it to the right side of the pencil.", "Pick up a box and place it to the right side of the pencil.", "Grab a box and put it to the right side of the pencil.", "Take the box and place it to the right side of the pencil.", "Grab an eraser and place it in the cup.", "Grasp an eraser and place it in the cup.", "Grab an eraser and put it in the cup.", "Grab a box on the table and put it into the translucent box.", "Pick up a box on the table and place it in the translucent box.", "Grasp the box on the table and put it in the translucent box.", "Pick up a box on the table and put it in the translucent box.", "Pick up the small white object and place it in the white tray.", "Grab a small white object and place it into the white tray.", "Grasp the small white object and place it in the white tray.", "Grab the small white object and put it in the white tray.", "Pick up the pink object from the yellow plate and place it on the table.", "Put the pink object from the yellow plate on the table.", "Grab a pink object from the yellow plate and put it on the table.", "Pick up the pink object from the yellow plate and put it on the table.", "Pick up the green cube and place it in the brown box.", "Put the green cube in the brown box.", "Take the green cube and place it into the brown box.", "Take the green cube and place it in the brown box.", "Pick up the pink cube and place it on the black dot.", "Take the pink cube and put it onto the black dot.", "Pick up the pink cube and put it on the black dot.", "Grasp the pink cube and place it onto the black dot.", "Grasp the colored block, Place it on the black dot, and then return the arm to the default position.", "Pick up a colored block and place it on the black dot, and then return the arm to the default position.", "Grab a colored block and place it onto the black dot, and then return the arm to the default position.", "Grab a colored block and put it on the black dot, and then return the arm to the default position.", "Pick up the teal object and place it in the cardboard box.", "Grab a teal object and place it into the cardboard box.", "Grasp the teal object and put it into the cardboard box.", "Take a teal object and place it into the cardboard box.", "Place the black cylinder in the wooden box then return to rest.", "Pick up a black cylinder and put it in the wooden box then return to rest.", "Put a black cylinder in the wooden box then return to rest.", "Grasp the black cylinder and place it into the wooden box then return to rest.", "Pick up the black cube and place it inside the tape roll.", "Put the black cube inside the tape roll.", "Pick up a black cube and put it inside the tape roll.", "Put a black cube inside the tape roll.", "Pick up the small white cube and place it on the large white cube.", "Grasp the small white cube and place it onto the large white cube.", "Take the small white cube and place it on the large white cube.", "Take a small white cube and place it on the large white cube.", "Pick up a sponge and place it in the paper cup.", "Pick up the sponge and place it in the paper cup.", "Take the sponge and put it into the paper cup.", "Grasp a sponge and place it into the paper cup.", "Put the sponge in the paper cup.", "Grab the sponge and put it in the paper cup.", "Take a sponge and place it in the paper cup.", "Pick up the small blue box and place it in the cardboard box.", "Grab a small blue box and put it in the cardboard box.", "Grasp the small blue box and put it in the cardboard box.", "Pick up the small blue box and put it into the cardboard box.", "Pick up the teal cube and place it in the teal box.", "Grab the teal cube and put it into the teal box.", "Grab a teal cube and place it into the teal box.", "Take a teal cube and place it in the teal box.", "Move the black knight on a chessboard.", "Move the black knight on the chessboard.", "Make a move with the black knight on the chessboard.", "Play a black knight move on the chessboard.", "Grab a cube and put it on another cube.", "Grasp a cube and put it on another cube.", "Grab a cube and place it on another cube.", "Pick up a cube and place it onto another cube.", "Pick up the whiteboard marker from the holder.", "Grasp the whiteboard marker from the holder.", "Grab the whiteboard marker from the holder.", "Grasp a whiteboard marker from the holder.", "Draw a face with the marker.", "Use the marker to draw a face.", "Draw a face using the marker.", "Draw a simple face with the marker.", "Pick up the silver pen from the holder.", "Grasp a silver pen from the holder.", "Take the silver pen from the holder.", "Grasp the silver pen from the holder.", "Pick up the green toy and place it in the white dish.", "Grab a green toy and place it in the white dish.", "Take a green toy and place it into the white dish.", "Grasp a green toy and place it in the white dish.", "Pick up the green part and put it inside the white ring.", "Grasp a green part and place it inside the white ring.", "Take a green part and put it inside the white ring.", "Take the green part and place it inside the white ring.", "Pick up the strawberries and grapes and place them on the plate.", "Pick up the strawberries and grapes and put them on the plate.", "Put the strawberries and grapes on the plate.", "Grab the strawberries and grapes and place them on the plate.", "Pick up all the pens and put them in the pen holder.", "Take all the pens and put them in the pen holder.", "Take all the pens and place them in the pen holder.", "Grasp all the pens and put them in the pen holder.", "Pick up the blue block.", "Take the blue block.", "Pick up a blue block.", "Take a blue block.", "Pick up the yellow block and place it on the red circle.", "Grasp the yellow block and put it onto the red circle.", "Grab the yellow block and place it onto the red circle.", "Take a yellow block and place it on the red circle.", "Pick up the white cube and place it in the red bowl.", "Grasp the white cube and place it into the red bowl.", "Pick up the white cube and put it into the red bowl.", "Take a white cube and place it in the red bowl.", "Pick up the small white object and place it in the wooden box.", "Take a small white object and put it in the wooden box.", "Grasp the small white object and place it into the wooden box.", "Take the small white object and place it in the wooden box.", "Pick up the white cube and place it in the blue wastebasket.", "Grasp a white cube and put it into the blue wastebasket.", "Grasp the white cube and put it in the blue wastebasket.", "Take the white cube and place it in the blue wastebasket."

Training Configuration

Setting	Value
Training steps	260000
Batch size	64
Optimizer	adamw
Learning rate	0.0005
Seed	0
LeRobot version	0.6.2

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How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

• Install LeRobot — set up the lerobot package.
• Hardware setup — assemble, wire, and calibrate your robot and cameras.
• Record data & train a policy — the end-to-end imitation-learning walkthrough.
• CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

lerobot-rollout \
  --strategy.type=base \
  --robot.type=so100_so101_ee \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=felsager/smolvla_base_ee_rel_labelfix \
  --task="Grasp a battery and put it in the bin." \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

This policy type is usually fine-tuned from the pretrained base model lerobot/smolvla_base:

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.path=lerobot/smolvla_base \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

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Evaluation

No evaluation results have been provided for this policy yet.

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Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}