episode_index int64 0 3.15k | episode_uid stringlengths 35 66 | task stringclasses 48
values | subtask_names listlengths 1 20 | subtask_start_frames listlengths 1 20 | subtask_end_frames listlengths 1 20 | completed bool 2
classes |
|---|---|---|---|---|---|---|
109 | 3_cup_tower_stacking_20260730_115703:000002 | stack the three cups into a tower | [
"Grasp the first cup.",
"Grasp the second cup.",
"Grasp the third cup."
] | [
0,
2160,
3060
] | [
1710,
2700,
3240
] | true |
2,281 | pnp_eggplant_on_plate_left_arm_20260726_162550:000012 | pick up the eggplant and place it on the plate with the left arm | [
"Grasp the eggplant.",
"Place the eggplant onto the plate."
] | [
120,
140
] | [
130,
150
] | true |
110 | 3_cup_tower_stacking_20260730_115703:000003 | stack the three cups into a tower | [
"Grasp the first cup.",
"Place the first cup onto the table.",
"Grasp the second cup.",
"Place the second cup onto the first cup.",
"Grasp the third cup.",
"Place the third cup onto the second cup."
] | [
920,
1160,
1240,
1360,
1400,
1440
] | [
1160,
1200,
1360,
1400,
1440,
1480
] | true |
116 | 3_cup_tower_stacking_20260730_122744:000003 | stack the three cups into a tower | [
"Grasp the first cup.",
"Grasp the second cup.",
"Grasp the third cup."
] | [
650,
1950,
3120
] | [
1690,
2860,
4030
] | true |
121 | 3_cup_tower_stacking_20260730_122744:000008 | stack the three cups into a tower | [
"Grasp the first cup.",
"Grasp the second cup.",
"Grasp the third cup."
] | [
130,
1300,
2210
] | [
520,
1690,
2600
] | true |
129 | 3_cup_tower_stacking_20260730_122744:000016 | stack the three cups into a tower | [
"Grasp the first cup.",
"Grasp the second cup.",
"Grasp the third cup."
] | [
200,
1250,
1550
] | [
950,
1500,
1800
] | true |
132 | 3_cup_tower_stacking_20260730_122744:000019 | stack the three cups into a tower | [
"Grasp the first cup.",
"Place the cup onto the table.",
"Grasp the second cup.",
"Place the second cup onto the first cup.",
"Grasp the third cup.",
"Place the third cup onto the stack of cups."
] | [
1170,
1350,
2430,
2700,
2880,
3150
] | [
1350,
1440,
2610,
2790,
3060,
3240
] | true |
155 | 3_cup_tower_stacking_20260730_122744:000042 | stack the three cups into a tower | [
"Grasp the first cup.",
"Place the cup onto the table.",
"Grasp the second cup.",
"Place the second cup onto the first cup.",
"Grasp the third cup."
] | [
0,
400,
440,
720,
760
] | [
400,
440,
720,
760,
1000
] | true |
162 | 3_cup_tower_stacking_20260730_122744:000049 | stack the three cups into a tower | [
"Grasp the first cup.",
"Grasp the second cup.",
"Grasp the third cup."
] | [
120,
600,
1080
] | [
560,
1040,
1240
] | true |
174 | 3_cup_tower_stacking_20260730_122744:000061 | stack the three cups into a tower | [
"Grasp the top cup.",
"Place the cup onto the middle cup.",
"Grasp the bottom cup.",
"Place the cup onto the stack."
] | [
120,
600,
1040,
1120
] | [
600,
1040,
1120,
1160
] | true |
184 | 3_cup_tower_stacking_20260730_122744:000071 | stack the three cups into a tower | [
"Grasp the top cup.",
"Grasp the bottom cup.",
"Place the cup onto the middle cup.",
"Place the cup onto the stack."
] | [
360,
420,
720,
840
] | [
420,
480,
840,
898
] | true |
271 | circle_on_peg_20260725_123120:000077 | put the circle on the peg | [
"Grasp the white circular object.",
"Place the white circular object onto the white peg."
] | [
140,
260
] | [
250,
380
] | true |
281 | circle_on_peg_20260725_123120:000087 | put the circle on the peg | [
"Grasp the white circular object.",
"Place the white circular object onto the white peg."
] | [
150,
200
] | [
170,
250
] | true |
293 | circle_on_peg_20260725_123120:000099 | put the circle on the peg | [
"Grasp the white circular object.",
"Place the white circular object onto the white peg."
] | [
180,
200
] | [
200,
300
] | true |
325 | circle_on_peg_20260725_133323:000030 | put the circle on the peg | [
"Grasp the white circular object."
] | [
60
] | [
290
] | true |
335 | circle_on_peg_20260725_133323:000040 | put the circle on the peg | [
"Grasp the white circular object.",
"Place the white circular object onto the white peg."
] | [
0,
150
] | [
100,
250
] | true |
346 | circle_on_peg_20260725_133323:000051 | put the circle on the peg | [
"Grasp the white circular object.",
"Place the white circular object onto the white peg."
] | [
70,
200
] | [
180,
240
] | true |
361 | circle_on_peg_20260725_133323:000066 | put the circle on the peg | [
"Grasp the white circular object.",
"Place the white circular object onto the white peg."
] | [
0,
260
] | [
250,
371
] | true |
378 | circle_on_peg_20260725_133323:000083 | put the circle on the peg | [
"Grasp the circle.",
"Place the circle onto the peg."
] | [
0,
150
] | [
140,
334
] | true |
383 | circle_on_peg_20260725_133323:000088 | put the circle on the peg | [
"Grasp the white circular object.",
"Place the white circular object onto the white peg."
] | [
60,
160
] | [
150,
200
] | true |
452 | circle_on_peg_20260725_133323:000157 | put the circle on the peg | [
"Grasp the circle.",
"Place the circle onto the peg."
] | [
50,
180
] | [
170,
240
] | true |
652 | colored_octagon_stacking_20260725_153914:000032 | stack the colored octagons | [
"Grasp the blue octagon.",
"Grasp the green octagon.",
"Grasp the yellow octagon."
] | [
0,
1260,
1800
] | [
900,
1530,
3150
] | true |
695 | colored_octagon_stacking_right:000035 | stack the colored octagons | [
"Grasp the blue octagon.",
"Place the blue octagon onto the wooden stand.",
"Grasp the yellow octagon.",
"Place the yellow octagon onto the wooden stand.",
"Grasp the green octagon.",
"Place the green octagon onto the wooden stand."
] | [
50,
110,
160,
220,
270,
330
] | [
100,
150,
210,
260,
320,
340
] | true |
717 | colored_octagon_stacking_right:000057 | stack the colored octagons | [
"Grasp the blue octagon.",
"Grasp the green octagon.",
"Grasp the yellow octagon."
] | [
0,
900,
1500
] | [
600,
1320,
1800
] | true |
719 | colored_octagon_stacking_right:000059 | stack the colored octagons | [
"Grasp the blue octagon.",
"Place the blue octagon onto the wooden block.",
"Grasp the green octagon.",
"Place the green octagon onto the blue octagon.",
"Grasp the yellow octagon.",
"Place the yellow octagon onto the green octagon."
] | [
300,
500,
750,
1000,
1250,
1500
] | [
500,
750,
1000,
1250,
1500,
1750
] | true |
736 | colored_octagon_stacking_right:000076 | stack the colored octagons | [
"Grasp the blue octagon.",
"Grasp the green octagon.",
"Grasp the yellow octagon."
] | [
120,
600,
1200
] | [
480,
1000,
1520
] | true |
759 | colored_octagon_stacking_right:000099 | stack the colored octagons | [
"Grasp the blue octagon.",
"Grasp the green octagon.",
"Grasp the yellow octagon."
] | [
100,
900,
1200
] | [
850,
1150,
1700
] | true |
761 | colored_octagon_stacking_right:000101 | stack the colored octagons | [
"Grasp the blue octagon.",
"Grasp the green octagon.",
"Grasp the yellow octagon."
] | [
120,
320,
760
] | [
240,
640,
1120
] | true |
773 | colored_octagon_stacking_right:000113 | stack the colored octagons | [
"Grasp the green octagon.",
"Grasp the yellow octagon."
] | [
0,
280
] | [
240,
380
] | true |
774 | colored_octagon_stacking_right:000114 | stack the colored octagons | [
"Grasp the blue octagon.",
"Grasp the green octagon.",
"Grasp the yellow octagon."
] | [
80,
680,
1080
] | [
520,
1000,
1280
] | true |
802 | colored_octagon_stacking_right:000142 | stack the colored octagons | [
"Grasp the blue octagon.",
"Grasp the green octagon.",
"Grasp the yellow octagon."
] | [
40,
520,
960
] | [
480,
920,
1360
] | true |
819 | grocery_bagging_green_pepper_20260726_143706:000003 | put the green pepper into the grocery bag | [
"Grasp the green pepper.",
"Place the green pepper into the grocery bag."
] | [
60,
300
] | [
150,
600
] | true |
835 | grocery_bagging_green_pepper_20260726_143706:000019 | put the green pepper into the grocery bag | [
"Grasp the green pepper.",
"Place the green pepper into the grocery bag."
] | [
240,
420
] | [
330,
840
] | true |
840 | grocery_bagging_green_pepper_20260726_143706:000024 | put the green pepper into the grocery bag | [
"Grasp the green pepper.",
"Place the green pepper into the grocery bag."
] | [
420,
600
] | [
480,
720
] | true |
842 | grocery_bagging_green_pepper_20260726_143706:000026 | put the green pepper into the grocery bag | [
"Grasp the green pepper.",
"Place the green pepper into the grocery bag."
] | [
200,
320
] | [
300,
400
] | true |
849 | grocery_bagging_green_pepper_20260726_143706:000033 | put the green pepper into the grocery bag | [
"Grasp the green pepper."
] | [
300
] | [
480
] | true |
853 | grocery_bagging_green_pepper_20260726_143706:000037 | put the green pepper into the grocery bag | [
"Grasp the green pepper.",
"Place the green pepper into the grocery bag."
] | [
360,
570
] | [
390,
600
] | true |
856 | grocery_bagging_green_pepper_20260726_143706:000040 | put the green pepper into the grocery bag | [
"Grasp the green pepper.",
"Place the green pepper into the grocery bag."
] | [
300,
360
] | [
340,
400
] | true |
858 | grocery_bagging_green_pepper_20260726_143706:000042 | put the green pepper into the grocery bag | [
"Grasp the green pepper.",
"Place the green pepper into the grocery bag."
] | [
450,
510
] | [
480,
540
] | true |
875 | grocery_bagging_green_pepper_20260726_160909:000006 | put the green pepper into the grocery bag | [
"Grasp the green pepper.",
"Place the green pepper into the grocery bag."
] | [
180,
240
] | [
220,
300
] | true |
879 | grocery_bagging_green_pepper_20260726_160909:000010 | put the green pepper into the grocery bag | [
"Grasp the green pepper."
] | [
180
] | [
220
] | true |
951 | hit_the_yellow_cube_with_the_mallet_20260728_172403:000001 | hit the yellow cube with the mallet using the right arm | [
"Grasp the mallet.",
"Push the mallet forward to hit the yellow cube."
] | [
0,
750
] | [
840,
810
] | true |
981 | hit_the_yellow_cube_with_the_mallet_20260728_172403:000031 | hit the yellow cube with the mallet using the right arm | [
"Grasp the mallet.",
"Move the mallet to the yellow cube.",
"Hit the yellow cube with the mallet."
] | [
0,
720,
1040
] | [
680,
1000,
1239
] | true |
983 | hit_the_yellow_cube_with_the_mallet_20260728_172403:000033 | hit the yellow cube with the mallet using the right arm | [
"Grasp the mallet with the right arm.",
"Move the mallet towards the yellow cube."
] | [
0,
200
] | [
200,
300
] | true |
995 | hit_the_yellow_cube_with_the_mallet_20260728_172403:000045 | hit the yellow cube with the mallet using the right arm | [
"Grasp the mallet."
] | [
30
] | [
130
] | true |
997 | hit_the_yellow_cube_with_the_mallet_20260728_172403:000047 | hit the yellow cube with the mallet using the right arm | [
"Grasp the mallet.",
"Push the mallet forward to hit the yellow cube.",
"Place the mallet back on the table."
] | [
40,
130,
160
] | [
130,
150,
200
] | true |
1,004 | hit_the_yellow_cube_with_the_mallet_left_20260728_174356:000001 | hit the yellow cube with the mallet using the left arm | [
"Grasp the mallet."
] | [
240
] | [
380
] | true |
1,019 | hit_the_yellow_cube_with_the_mallet_left_20260728_174356:000016 | hit the yellow cube with the mallet using the left arm | [
"Grasp the mallet."
] | [
0
] | [
1520
] | true |
1,026 | hit_the_yellow_cube_with_the_mallet_left_20260728_182651:000003 | hit the yellow cube with the mallet using the left arm | [
"Grasp the mallet.",
"Move the mallet towards the yellow cube.",
"Hit the yellow cube with the mallet."
] | [
240,
380,
440
] | [
360,
440,
480
] | true |
1,050 | hit_the_yellow_cube_with_the_mallet_left_20260728_182651:000027 | hit the yellow cube with the mallet using the left arm | [
"Grasp the mallet.",
"Hit the yellow cube with the mallet."
] | [
0,
280
] | [
340,
340
] | true |
1,060 | hit_the_yellow_cube_with_the_mallet_left_20260728_182651:000037 | hit the yellow cube with the mallet using the left arm | [
"Grasp the mallet.",
"Hit the yellow cube with the mallet."
] | [
630,
930
] | [
1080,
1080
] | true |
1,089 | long_horizon_sorting_task_20260729_131248:000010 | sort the items into their containers | [
"Grasp the yellow marker.",
"Grasp the green toy.",
"Grasp the orange toy.",
"Grasp the red toy.",
"Grasp the purple toy.",
"Grasp the green toy.",
"Grasp the yellow toy.",
"Grasp the purple marker.",
"Grasp the red marker.",
"Grasp the orange toy."
] | [
450,
1500,
2250,
2550,
2850,
3750,
4050,
4200,
4650,
4950
] | [
1050,
2100,
2850,
3150,
3450,
4350,
4650,
4800,
5250,
5550
] | true |
1,101 | long_horizon_sorting_task_20260729_131248:000022 | sort the items into their containers | [
"Grasp the red marker.",
"Grasp the orange block.",
"Grasp the purple marker.",
"Grasp the green block.",
"Grasp the red toy pepper.",
"Grasp the purple toy eggplant.",
"Grasp the yellow block.",
"Grasp the green toy lime.",
"Grasp the yellow toy banana."
] | [
210,
420,
630,
1050,
1050,
1330,
1540,
1610,
1820
] | [
350,
560,
770,
1190,
1190,
1470,
1680,
1750,
1960
] | true |
1,124 | long_horizon_sorting_task_20260729_131248:000045 | sort the items into their containers | [
"Grasp the orange block.",
"Grasp the yellow block.",
"Grasp the green block.",
"Grasp the red pepper.",
"Grasp the yellow pepper.",
"Grasp the purple eggplant.",
"Grasp the red marker.",
"Grasp the blue marker.",
"Grasp the green marker."
] | [
630,
1470,
2310,
2520,
3360,
4200,
5040,
5880,
6720
] | [
1260,
2100,
2940,
3150,
3990,
4830,
5670,
6510,
7350
] | true |
1,143 | long_horizon_sorting_task_20260729_131248:000064 | sort the items into their containers | [
"Grasp the red chili.",
"Grasp the yellow sponge.",
"Grasp the green sponge.",
"Grasp the orange block.",
"Grasp the yellow block.",
"Grasp the purple block.",
"Grasp the blue marker."
] | [
0,
840,
1820,
2800,
3360,
3780,
4620
] | [
1680,
1680,
2100,
3220,
3640,
4060,
5040
] | true |
1,162 | long_horizon_sorting_task_20260729_184213:000009 | sort the items into their containers | [
"Grasp the purple marker.",
"Grasp the red marker.",
"Grasp the blue marker.",
"Grasp the orange block."
] | [
0,
2500,
5000,
7500
] | [
1250,
3750,
6250,
8750
] | true |
1,163 | long_horizon_sorting_task_20260729_184213:000010 | sort the items into their containers | [
"Grasp the red marker.",
"Grasp the green marker.",
"Grasp the blue marker."
] | [
1300,
2600,
3770
] | [
1690,
2990,
4160
] | true |
1,168 | long_horizon_sorting_task_20260729_184213:000015 | sort the items into their containers | [
"Grasp the green block.",
"Place the green block into the cardboard box.",
"Grasp the orange block.",
"Place the orange block into the cardboard box.",
"Grasp the purple block.",
"Place the purple block into the cardboard box.",
"Grasp the red block.",
"Place the red block into the cardboard box.",
... | [
630,
810,
990,
1170,
1350,
1530,
1710,
1890,
2070,
2250,
2430,
2610,
2790,
2970
] | [
810,
900,
1170,
1260,
1530,
1620,
1890,
1980,
2250,
2340,
2610,
2700,
2970,
3060
] | true |
1,177 | long_horizon_sorting_task_20260729_184213:000024 | sort the items into their containers | [
"Grasp the orange block.",
"Grasp the yellow marker.",
"Grasp the red marker.",
"Grasp the yellow block.",
"Grasp the white marker.",
"Grasp the red chili.",
"Grasp the purple chili.",
"Grasp the green block."
] | [
220,
660,
1100,
1540,
1980,
2200,
2640,
2860
] | [
440,
880,
1320,
1760,
2200,
2420,
2860,
3080
] | true |
1,178 | long_horizon_sorting_task_20260729_184213:000025 | sort the items into their containers | [
"Grasp the orange block.",
"Grasp the green block.",
"Grasp the red block."
] | [
440,
840,
1160
] | [
560,
960,
1280
] | true |
1,203 | open_notebook_20260728_111551:000002 | open the notebook | [
"Grasp the notebook.",
"Open the notebook."
] | [
440,
480
] | [
480,
580
] | true |
1,209 | open_notebook_20260728_111551:000008 | open the notebook | [
"Grasp the notebook."
] | [
20
] | [
200
] | true |
1,242 | open_notebook_20260728_111551:000041 | open the notebook | [
"Grasp the notebook.",
"Open the notebook."
] | [
360,
480
] | [
500,
500
] | true |
1,249 | open_notebook_20260728_111551:000048 | open the notebook | [
"Grasp the notebook."
] | [
360
] | [
810
] | true |
1,260 | open_notebook_20260728_111551:000059 | open the notebook | [
"Grasp the notebook.",
"Place the notebook onto the table.",
"Press the notebook."
] | [
420,
570,
720
] | [
570,
600,
780
] | true |
1,271 | open_notebook_20260728_111551:000070 | open the notebook | [
"Grasp the notebook."
] | [
60
] | [
360
] | true |
1,300 | open_notebook_20260728_111551:000099 | open the notebook | [
"Grasp the notebook."
] | [
200
] | [
380
] | true |
1,319 | open_notebook_20260728_111551:000118 | open the notebook | [
"Grasp the notebook.",
"Open the notebook."
] | [
150,
250
] | [
240,
279
] | true |
1,332 | open_the_gatorade_bottle_20260730_163013:000010 | open the gatorade bottle | [
"Grasp the Gatorade bottle.",
"Tilt the gripper to open the bottle cap."
] | [
180,
570
] | [
540,
720
] | true |
1,346 | open_the_gatorade_bottle_20260730_163013:000024 | open the gatorade bottle | [
"Grasp the gatorade bottle.",
"Tilt the gripper to pour the liquid."
] | [
150,
160
] | [
240,
240
] | true |
1,375 | open_the_gatorade_bottle_20260730_163013:000053 | open the gatorade bottle | [
"Grasp the bottle."
] | [
80
] | [
380
] | true |
1,392 | open_the_gatorade_bottle_20260730_163013:000070 | open the gatorade bottle | [
"Grasp the gatorade bottle."
] | [
150
] | [
450
] | true |
1,401 | open_the_gatorade_bottle_20260730_163013:000079 | open the gatorade bottle | [
"Grasp the bottle.",
"Tilt the gripper.",
"Press the bottle cap."
] | [
160,
280,
380
] | [
260,
380,
400
] | true |
1,402 | open_the_gatorade_bottle_20260730_163013:000080 | open the gatorade bottle | [
"Grasp the bottle.",
"Tilt the gripper to pour the liquid.",
"Place the bottle onto the table."
] | [
0,
690,
810
] | [
330,
780,
900
] | true |
1,417 | open_the_gatorade_bottle_20260730_163013:000095 | open the gatorade bottle | [
"Grasp the bottle."
] | [
100
] | [
240
] | true |
1,429 | open_the_gatorade_bottle_20260730_163013:000107 | open the gatorade bottle | [
"Grasp the bottle.",
"Tilt the gripper."
] | [
100,
300
] | [
340,
340
] | true |
1,433 | open_the_gatorade_bottle_20260730_163013:000111 | open the gatorade bottle | [
"Grasp the bottle."
] | [
240
] | [
960
] | true |
1,436 | open_the_gatorade_bottle_20260730_163013:000114 | open the gatorade bottle | [
"Grasp the gatorade bottle."
] | [
340
] | [
480
] | true |
1,571 | pass_salt_shaker_left_to_right_20260728_192838:000009 | pass the salt shaker from the left arm to the right arm | [
"Grasp the salt shaker.",
"Place the salt shaker onto the table.",
"Grasp the salt shaker."
] | [
200,
320,
540
] | [
300,
520,
640
] | true |
1,572 | pass_salt_shaker_left_to_right_20260728_192838:000010 | pass the salt shaker from the left arm to the right arm | [
"Grasp the salt shaker.",
"Place the salt shaker onto the table.",
"Grasp the salt shaker."
] | [
0,
680,
700
] | [
680,
700,
740
] | true |
1,610 | pass_salt_shaker_left_to_right_20260728_192838:000048 | pass the salt shaker from the left arm to the right arm | [
"Grasp the salt shaker.",
"Place the salt shaker onto the table.",
"Grasp the salt shaker.",
"Place the salt shaker onto the table."
] | [
360,
450,
540,
630
] | [
420,
510,
600,
690
] | true |
1,764 | pass_the_salt_shaker_right_to_left_20260729_084925:000022 | pass the salt shaker from the right arm to the left arm | [
"Grasp the salt shaker."
] | [
0
] | [
870
] | true |
1,766 | pass_the_salt_shaker_right_to_left_20260729_084925:000024 | pass the salt shaker from the right arm to the left arm | [
"Grasp the salt shaker.",
"Place the salt shaker onto the table.",
"Grasp the salt shaker."
] | [
100,
220,
320
] | [
200,
300,
400
] | true |
1,772 | pass_the_salt_shaker_right_to_left_20260729_084925:000030 | pass the salt shaker from the right arm to the left arm | [
"Grasp the salt shaker.",
"Place the salt shaker onto the left arm."
] | [
120,
240
] | [
220,
460
] | true |
1,783 | pass_the_salt_shaker_right_to_left_20260729_084925:000041 | pass the salt shaker from the right arm to the left arm | [
"Grasp the salt shaker.",
"Place the salt shaker onto the table.",
"Grasp the salt shaker.",
"Place the salt shaker onto the left hand."
] | [
260,
340,
420,
500
] | [
320,
400,
480,
560
] | true |
1,793 | pass_the_salt_shaker_right_to_left_20260729_084925:000051 | pass the salt shaker from the right arm to the left arm | [
"Grasp the salt shaker."
] | [
80
] | [
150
] | true |
2,157 | pnp_chilli_left_arm_20260727_131221:000003 | pick up the red chilli and place it on the plate with the left arm | [
"Grasp the red chilli.",
"Place the red chilli onto the plate."
] | [
240,
320
] | [
300,
380
] | true |
2,180 | pnp_chilli_left_arm_20260727_131221:000026 | pick up the red chilli and place it on the plate with the left arm | [
"Grasp the red chilli.",
"Place the red chilli onto the plate."
] | [
190,
240
] | [
200,
250
] | true |
2,186 | pnp_chilli_left_arm_20260727_131221:000032 | pick up the red chilli and place it on the plate with the left arm | [
"Grasp the red chilli.",
"Place the red chilli onto the plate."
] | [
180,
230
] | [
220,
270
] | true |
2,200 | pnp_chilli_left_arm_20260727_131221:000046 | pick up the red chilli and place it on the plate with the left arm | [
"Grasp the red chilli from the plate.",
"Place the red chilli onto the plate."
] | [
580,
620
] | [
600,
700
] | true |
2,209 | pnp_chilli_left_arm_20260727_131221:000055 | pick up the red chilli and place it on the plate with the left arm | [
"Grasp the red chilli.",
"Place the red chilli onto the plate."
] | [
100,
220
] | [
200,
300
] | true |
2,229 | pnp_chilli_right_arm_20260727_120554:000018 | pick up the red chilli and place it on the plate with the right arm | [
"Grasp the red chilli."
] | [
60
] | [
440
] | true |
2,238 | pnp_chilli_right_arm_20260727_120554:000027 | pick up the red chilli and place it on the plate with the right arm | [
"Grasp the red chilli."
] | [
220
] | [
280
] | true |
2,241 | pnp_chilli_right_arm_20260727_120554:000030 | pick up the red chilli and place it on the plate with the right arm | [
"Grasp the red chilli.",
"Place the red chilli onto the plate."
] | [
70,
140
] | [
130,
233
] | true |
2,252 | pnp_chilli_right_arm_20260727_120554:000041 | pick up the red chilli and place it on the plate with the right arm | [
"Grasp the red chilli.",
"Place the red chilli onto the plate."
] | [
100,
210
] | [
180,
240
] | true |
2,263 | pnp_chilli_right_arm_20260727_120554:000052 | pick up the red chilli and place it on the plate with the right arm | [
"Grasp the red chilli."
] | [
100
] | [
140
] | true |
2,296 | pnp_eggplant_on_plate_left_arm_20260726_162550:000027 | pick up the eggplant and place it on the plate with the left arm | [
"Grasp the eggplant."
] | [
420
] | [
480
] | true |
2,308 | pnp_eggplant_on_plate_left_arm_20260726_162550:000039 | pick up the eggplant and place it on the plate with the left arm | [
"Grasp the eggplant.",
"Place the eggplant onto the plate."
] | [
150,
220
] | [
210,
300
] | true |
2,317 | pnp_eggplant_on_plate_left_arm_20260726_162550:000048 | pick up the eggplant and place it on the plate with the left arm | [
"Grasp the eggplant.",
"Place the eggplant onto the plate."
] | [
40,
280
] | [
100,
357
] | true |
2,321 | pnp_eggplant_on_plate_left_arm_20260726_162550:000052 | pick up the eggplant and place it on the plate with the left arm | [
"Grasp the eggplant.",
"Place the eggplant onto the plate."
] | [
70,
130
] | [
120,
180
] | true |
End of preview. Expand in Data Studio
ICL SARM Subtask Annotations
Per-episode subtask decomposition (name + start/end frame) generated with a VLM-based
annotation pipeline (Qwen3-VL-8B-Instruct, ecot-style plan generation +
bidirectional grounding), for the two adityx23 ICL robot manipulation datasets:
| File | Source dataset | Episodes | Tasks |
|---|---|---|---|
icl-dataset_subtasks.jsonl |
adityx23/icl-dataset (reference set) |
3149 | 36 |
icl-demo-dataset_subtasks.jsonl |
adityx23/icl-demo-dataset (query/test set) |
285 | 27 |
Pipeline
Two VLM calls per episode:
- Plan generation: given the task name and a sampled frame sequence, the VLM produces a numbered list of subtask names following a fixed 8-pattern taxonomy (Grasp / Place / Push / Tilt / Hang / Press / Open / Close / Rotate).
- Bidirectional grounding: given the task and the generated plan, the VLM marks each subtask's start/complete frame as a position index into the same frame sequence, which is then remapped back to real dataset frame numbers.
Episodes where no per-subtask grounding was possible (task never attempted, object never
visible, or malformed VLM output) get a single whole-episode span instead, marked
"completed": false.
Schema
Each line is one JSON record:
{
"episode_index": <int>,
"episode_uid": "<str>",
"task": "<str>",
"subtask_names": ["<str>", ...],
"subtask_start_frames": [<int>, ...],
"subtask_end_frames": [<int>, ...],
"completed": <bool>
}
completed: false marks either a genuinely incomplete/failed demonstration, or an episode
where grounding fell back to a single whole-episode span.
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