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+{"episode_index": 0, "tasks": ["wipe tissue"], "length": 207, "global_instruction": "Pull a tissue from the tissue box and wipe debris off the table with it.", "scene_description": "A white round table is placed in front of a large window, a white tissue box is at the far end of the table, a small dark rectangular object and a tiny gray fragment are on the table surface, and a robotic gripper is pressed against the tissue box.", "global_instruction_dense": "The right robotic arm releases the tissue box and lifts upward, moves its gripper to grasp the exposed tissue in the box, pulls the tissue fully out of the box, places the tissue onto the table, then presses the tissue against the table to wipe the small gray debris on the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 1, "tasks": ["wipe tissue"], "length": 320, "global_instruction": "Wipe the yellow ball on top of the glass bottle using the white tissue", "scene_description": "A black work table holds a clear glass bottle with a yellow ball resting on its opening, a white tissue next to the bottle, and a small red circular object further back, with a white robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves toward the white tissue on the black table, grasps it, lifts it, moves it over the yellow ball atop the clear glass bottle, wipes the ball repeatedly, then places the tissue next to the bottle.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 2, "tasks": ["wipe tissue"], "length": 556, "global_instruction": "Extract a tissue from the tissue box and use it to wipe the wooden table surface.", "scene_description": "A light wooden table holds a purple pair of scissors, a glass pot lid with a black knob, a packaged white plastic spoon, a light blue and yellow tissue box, a small dark snack packet, a white patterned mug, and a white rice cooker on the far left. Two wooden chairs are behind the table, and a white robotic arm is mounted on a worktable to the right of the wooden table.", "global_instruction_dense": "The left robotic gripper moves toward the tissue box on the wooden table, grasps a protruding tissue, pulls it out of the box, and wipes the table surface and the packaged plastic spoon with the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 3, "tasks": ["wipe tissue"], "length": 450, "global_instruction": "Extract a tissue from the tissue box and use it to wipe the wooden tabletop.", "scene_description": "A light wooden table holds a blue-and-yellow patterned tissue box, white mug, purple scissors, black circular ring, small mobile phone, and other small trinkets. A left robotic arm is positioned above the table, and a right robotic arm is mounted on a workbench to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the tissue box on the light wooden table, grasps the top protruding tissue, pulls it fully out of the box, places the tissue flat on the table, grasps the placed tissue, moves it back and forth across the table surface to wipe it, then lifts its gripper away from the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 4, "tasks": ["wipe tissue"], "length": 311, "global_instruction": "Wipe the light wooden dining table surface using the white cloth napkin.", "scene_description": "A light wooden dining table holds a blue ceramic dish with a metal spoon, a clear glass lid with a dark knob, and a stack of white cloth napkins. A robotic arm is positioned at the right of the scene, with a brown couch, armchair, and stainless steel refrigerator in the background.", "global_instruction_dense": "The left robotic arm first moves to the blue dish, grasps the metal spoon and places it beside the dish, then grasps a white cloth napkin from the stack, and wipes the wooden table surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 5, "tasks": ["wipe tissue"], "length": 511, "global_instruction": "Wipe the wooden table surface using the crumpled white tissue.", "scene_description": "A light brown wooden table holds a white keyboard, a clear plastic water bottle with a blue cap, a green gift bag with donut illustrations, a roll of white paper towel, red snack packages, a crumpled white tissue, and a small metal spoon. A wooden chair sits to the right of the table, and a white robotic arm with a black gripper is positioned above the top right of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the crumpled white tissue on the table, grasps the tissue with its gripper, and moves the tissue across different areas of the table surface to wipe the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 6, "tasks": ["wipe tissue"], "length": 503, "global_instruction": "Wipe the surface of the wooden table using the crumpled white tissue.", "scene_description": "A light brown wooden table against a plain white wall holds a crumpled white tissue, a roll of white paper, a black-and-white dot calibration grid, red snack packages, a green bottle, and other small items, with a white robotic arm in the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the crumpled white tissue on the table, grasps the tissue with its gripper, then moves repeatedly across different areas of the table surface to wipe it for the rest of the clip.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 7, "tasks": ["wipe tissue"], "length": 491, "global_instruction": "Wipe the wooden table surface using the crumpled white tissue", "scene_description": "A light brown wooden table holds a black-and-white calibration grid, a roll of white paper towel, a blue packet, red snack packages, a small green container, and a crumpled white tissue. A white robotic arm is positioned at the upper right above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the crumpled white tissue on the wooden table, grasps it, moves the tissue repeatedly across the table surface to wipe it, then releases the tissue onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 8, "tasks": ["wipe tissue"], "length": 509, "global_instruction": "Wipe the light wooden tabletop using the white tissue", "scene_description": "A light wooden table sits against a plain white wall, with a wooden chair placed to the table's right. On the table, there is a white keyboard, a roll of white paper towels, a slender green bottle, red snack packages, a blue packaged item, and a flat white tissue. A robotic arm is positioned in the top right corner of the frame above the table.", "global_instruction_dense": "The right robotic arm moves down toward the flat white tissue on the light wooden table, grasps the tissue with its gripper, then moves the tissue back and forth across the table surface repeatedly to wipe the tabletop.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 9, "tasks": ["wipe tissue"], "length": 532, "global_instruction": "Wipe the surface of the wooden table using the white napkin on the table.", "scene_description": "A light wooden table holds a black keyboard, blue packet, clear water bottle, green printed gift bag, white paper towel roll, red snack packets, and a white napkin. A wooden chair sits to the right of the table against a plain white wall, and a white robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves from the top right of the frame toward the white napkin on the table, grasps the napkin with its gripper, then moves the napkin repeatedly across the table surface to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 10, "tasks": ["wipe tissue"], "length": 455, "global_instruction": "Wipe the table surface using the folded white napkin", "scene_description": "A light tan wooden table holds a black-and-white keyboard, blue small case, clear plastic water bottle, green pastry-printed gift bag, white paper towel roll, red snack packages, and a folded white napkin. A light wooden chair is behind the right side of the table, and a white robotic arm is at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the folded white napkin on the table, grasps it, moves it repeatedly across the table surface to wipe, then releases the napkin back onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 11, "tasks": ["wipe tissue"], "length": 427, "global_instruction": "Wipe the tabletop using the white napkin on the table.", "scene_description": "A light brown table stands against a light gray wall. On the table, there is a black and white calibration board, a blue packaged item, a clear water bottle, a green pastry-printed gift bag, a white paper towel roll, multiple red packages, a small green figurine, and a white napkin. A light wooden chair is to the right of the table, with a white robotic arm at the upper right of the view.", "global_instruction_dense": "The right robotic arm moves toward the white napkin on the table, grasps it, then moves the napkin repeatedly across the table surface to wipe the tabletop.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 12, "tasks": ["wipe tissue"], "length": 531, "global_instruction": "Wipe the black stovetop surface with the white paper towel", "scene_description": "A black electric coil stove has a black air fryer on its left, a frying pan with a clear glass lid at the front center, a small dark lidded pot on the right rear burner, a white paper towel next to the small pot, assorted condiment bottles on the counter behind the stove, and a right robotic arm above the right stove area, with wooden cabinets and overhead lights above the stove.", "global_instruction_dense": "The right robotic arm grasps the white paper towel on the right side of the stove, then moves the paper towel repeatedly across different sections of the black stovetop to wipe the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 13, "tasks": ["wipe tissue"], "length": 571, "global_instruction": "Wipe the electric stovetop surface and coil burners using the white tissue.", "scene_description": "In a kitchen, a black electric coil stovetop has a lidded frying pan on its left burner, a lidded small pot on its right rear burner, and a white tissue on its front surface. A black air fryer sits to the left of the stove, condiment bottles are on the counter around the stove, wooden upper cabinets are above the cooking area, and a robotic arm is positioned over the stovetop.", "global_instruction_dense": "The right robotic arm lowers toward the white tissue on the stovetop, grasps the tissue, then moves the tissue repeatedly across the stovetop's glass surface and coil burners to wipe them clean.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 14, "tasks": ["wipe tissue"], "length": 468, "global_instruction": "Wipe the kitchen stovetop surface using the white paper towel.", "scene_description": "A black electric kitchen stove is at the center, with a glass-lidded black frypan on its left front burner, a small lidded black pot on its right front burner, a white paper towel on the stovetop surface between the burners, a black appliance to the left of the stove, and condiment bottles on the counter behind the stove, with a robotic arm positioned above the small black pot.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white paper towel resting on the stovetop, then moves the paper towel back and forth across the stovetop surface repeatedly to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 15, "tasks": ["wipe tissue"], "length": 491, "global_instruction": "Wipe the black electric stove surface using the white paper towel", "scene_description": "A black electric coil stove is in a kitchen. On the stove: a black frying pan with a glass lid is on the left front burner, a small dark gray lidded pot is on the right rear burner, and a white paper towel rests on the right front burner area. A black air fryer is to the left of the stove, the right counter holds condiment bottles and a silver electric kettle, and a robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the white paper towel on the black electric stove, grasps the paper towel, and repeatedly moves it across the stove surface to clean the area.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 16, "tasks": ["wipe tissue"], "length": 578, "global_instruction": "Wipe the stovetop and frying pan lid using the white paper towel.", "scene_description": "A black electric stovetop sits below light wooden upper cabinets. A small dark lidded pot is on the left rear burner, a larger dark lidded frying pan is on the right rear burner, and a white paper towel sheet rests on the right front burner. A black air fryer is on the counter left of the stove, a microwave is further left, assorted bottles are on the right counter, and a single robotic arm is positioned above the stovetop.", "global_instruction_dense": "The robotic gripper moves to grasp the white paper towel on the stovetop, wipes the empty stovetop surface, repeatedly wipes the lid of the dark frying pan, and finally wipes the stovetop area next to the small lidded pot.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 17, "tasks": ["wipe tissue"], "length": 363, "global_instruction": "Wipe the black stove control panel using the white tissue on the stove.", "scene_description": "A kitchen counter with a black electric coil stove is visible. On the stove, two black lidded pots and a white tissue sit on the burners. A black air fryer is to the left of the stove, condiment bottles are on the right counter, and a right robotic arm hangs above the stove.", "global_instruction_dense": "The right robotic arm lowers to grasp the white tissue on the stove surface, lifts the tissue, moves it to the stove's black control panel, wipes the control panel repeatedly with the tissue, places the tissue upright on the control panel, then lifts back to a position above the stove.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 18, "tasks": ["wipe tissue"], "length": 340, "global_instruction": "Wipe the kitchen counter surface using the white paper tissue.", "scene_description": "A light gray kitchen counter holds various condiment bottles, a dark metallic electric kettle, light blue bowls, and a white paper tissue; a black Frigidaire stove with a lidded pot sits to the left, with light wood upper cabinets mounted above the counter, and a robotic arm is positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves down to grasp the white paper tissue on the kitchen counter, wipes the counter surface by moving the tissue across it repeatedly, then releases the tissue and lifts away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 19, "tasks": ["wipe tissue"], "length": 330, "global_instruction": "Wipe the top of the black coffee maker with the white tissue, then place the tissue back on the counter.", "scene_description": "A kitchen counter has a dark blue bowl on a black microwave, a tall bottle with black and yellow labels next to the bowl, a black coffee maker, a black electric stove with two dark pots on its burners, three small bottles in the foreground, and a white tissue on the counter, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves down to grasp the white tissue on the lower counter, lifts it, moves to the black coffee maker, wipes its top surface repeatedly, then moves the tissue back to the lower counter and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 20, "tasks": ["wipe tissue"], "length": 234, "global_instruction": "Wipe the top of the black coffee maker using the white tissue.", "scene_description": "A kitchen counter area has a dark blue bowl and a yellow-and-black cleaning bottle on top of a black microwave, a black coffee maker to the right of the microwave, a stove with pots on the far right, and three small bottles plus a white tissue on the lower counter near a robotic arm.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the white tissue on the lower counter, lifts it, moves it to the top of the black coffee maker, wipes the coffee maker's top surface, then lifts the gripper away from the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 21, "tasks": ["wipe tissue"], "length": 566, "global_instruction": "Wipe the top surface of the microwave using the white paper towel.", "scene_description": "A kitchen counter features a black microwave topped with a large dark blue bowl, three bottles (two with white caps, one dark-capped holding brown liquid), a white paper towel, a black trash bin, and a black stovetop, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp the white paper towel on the counter, lifts it to the top of the microwave, repeatedly wipes the microwave's surface back and forth, then moves the paper towel back down toward the counter and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 22, "tasks": ["wipe tissue"], "length": 434, "global_instruction": "Wipe the black electric stovetop surface using the white paper tissue", "scene_description": "A dark blue bowl with a light blue interior sits atop a silver-fronted black microwave on a kitchen counter. To the microwave's right is a black cylindrical countertop appliance, followed by a black electric stovetop with coil burners. A green printed snack package and a white paper tissue rest on the counter in front of the stovetop, and a robotic arm is positioned above the stovetop, with wooden cabinets and under-cabinet lighting overhead.", "global_instruction_dense": "The right robotic arm moves down to grasp the white paper tissue on the kitchen counter, then performs repeated wiping motions across the black electric stovetop surface with the tissue before moving the tissue away from the stovetop.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 23, "tasks": ["wipe tissue"], "length": 485, "global_instruction": "Wipe the black electric stovetop using the white tissue from the kitchen counter.", "scene_description": "Wooden upper cabinets are mounted above a kitchen counter that holds a silver-black microwave with a dark blue bowl on its top, a green food package and white tissue on the counter surface next to the microwave, a black air fryer adjacent to the microwave, and a black electric stove with two black pots on its surface, with a robotic arm positioned at the top right.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the white tissue from the kitchen counter, lifts and moves the tissue over the black electric stovetop, and wipes the stovetop surface repeatedly in back-and-forth and circular motions.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 24, "tasks": ["wipe tissue"], "length": 252, "global_instruction": "Extract a tissue from the purple tissue box and wipe the wooden table surface with it.", "scene_description": "A light brown wooden table holds a purple tissue box, a turquoise cup, colorful notebooks, and two pink cloths at its right edge. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the purple tissue box on the wooden table, grasps and pulls out a tissue, lowers the tissue to the table, moves the tissue back and forth across the table surface to wipe it, then lifts the used tissue off the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 25, "tasks": ["wipe tissue"], "length": 385, "global_instruction": "Wipe the wooden table surface using the white napkin placed on the table.", "scene_description": "A light brown wooden table holds a white round plate, a white napkin, a clear drinking glass, a rectangular wooden block, and a black computer mouse, with a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white napkin on the wooden table, grasps it, performs repeated back-and-forth wiping motions across the table surface, then lifts the napkin away from the table after finishing wiping.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 26, "tasks": ["wipe tissue"], "length": 364, "global_instruction": "Wipe the wooden tabletop using the white paper napkin", "scene_description": "A light wooden table is on the right of the frame, holding a white paper napkin, a slotted rectangular wooden block, white plates, and a clear cup. A white robotic arm is on the left near a white tiled wall, with windows in the background.", "global_instruction_dense": "The right robotic arm moves toward the white paper napkin on the wooden table, grasps the napkin, moves it repeatedly across the table surface to wipe it, then moves the used napkin away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 27, "tasks": ["wipe tissue"], "length": 881, "global_instruction": "Move the two mugs on the kitchen counter and wipe the counter surface with a paper towel.", "scene_description": "A white kitchen counter holds a dark brown mug, a white mug, a grey microwave, a wall-mounted white paper towel dispenser, a green first aid kit, and a plastic container with contents on the left, with a white robotic arm positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm first moves to the dark brown mug, grasps and repositions it on the counter, then moves to the white mug, grasps and repositions it, then moves to a paper towel, grasps it, and wipes the kitchen counter surface with the paper towel.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 28, "tasks": ["wipe tissue"], "length": 257, "global_instruction": "Wipe the kitchen countertop using a paper towel", "scene_description": "A white kitchen counter holds a white rimmed cup, a plastic container with contents left of the cup, white paper towels below the cup, and a grey microwave at the back right. A white paper towel dispenser is mounted on the wall left of the microwave, two wall switches sit below the dispenser, and a white robotic arm is at the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the paper towels on the counter, grasps and lifts one paper towel, moves it across the counter surface to wipe it, then places the paper towel back onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 29, "tasks": ["wipe tissue"], "length": 1512, "global_instruction": "Wipe the white kitchen countertop using paper napkins.", "scene_description": "A white kitchen counter holds a clear glass with brown liquid on the left, a black coffee machine next to the glass, a stack of white paper napkins on a blue pad at the center, a roll of white tape near the back wall, a gray microwave at the far end of the counter, a wall-mounted white paper towel dispenser above the counter, and a green first-aid sign on the back wall, with a right robotic arm positioned above the napkin stack.", "global_instruction_dense": "The right robotic arm repeatedly grasps white paper napkins from the stack on the blue pad, moves each napkin across different sections of the white countertop to wipe the surface, discards used napkins off the counter edge, and uses new napkins to continue wiping until the task is complete.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 30, "tasks": ["wipe tissue"], "length": 786, "global_instruction": "Wipe the white kitchen counter surface using the paper towel", "scene_description": "A white kitchen counter holds a black capsule coffee machine, a glass with brown liquid, a white mug with a brown rim, a transparent plastic container, and a white paper towel. A yellow-green 'Clean after use!' sign is mounted on the wall above the counter, alongside a white paper towel dispenser, wall sockets, and a gray microwave in the background. A white-gray robotic arm is positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the white paper towel on the counter, grasps it, then moves the towel back and forth across the counter surface to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 31, "tasks": ["wipe tissue"], "length": 421, "global_instruction": "Wipe the white table surface using the white napkin with red stripes.", "scene_description": "A white tabletop holds a folded plain white napkin, a folded white napkin with red stripes, a wooden peg puzzle board, red plates, a green toy bottle, eggs, and white mugs, with a robotic gripper positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the folded white napkin with red stripes, then moves the napkin across the white tabletop in repeated wiping motions, before releasing the napkin on the table and lifting upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 32, "tasks": ["wipe tissue"], "length": 373, "global_instruction": "Wipe the surface of the white tray using the white napkin with red stripes.", "scene_description": "A white table supports a white tray, with a wooden puzzle board positioned on the right part of the tray, a white napkin with red stripes on the left part of the tray, and a robotic arm above the tray. The background includes a desk with a monitor and stacked boxes, plus red containers, a green bottle, and mugs at the far end of the tray.", "global_instruction_dense": "The left robotic arm descends to grasp the white napkin with red stripes on the left of the tray, then repeatedly moves the napkin back and forth across the tray surface to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 33, "tasks": ["wipe tissue"], "length": 352, "global_instruction": "Wipe the white round table surface using the white napkin with blue stripes.", "scene_description": "A white round table has a folded white napkin with blue stripes at its center, a tray holding a black pot, a red-striped white napkin and small items at its far end, and cardboard boxes on side tables in the background.", "global_instruction_dense": "The left robotic arm moves down to grasp the blue-striped white napkin on the center of the round white table, repeatedly moves the napkin across the table surface to wipe it, then releases the napkin and lifts back upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 34, "tasks": ["wipe tissue"], "length": 473, "global_instruction": "Wipe the surface of the white round table using the white napkin with blue stripes.", "scene_description": "A white round table is at the center, with a folded white napkin with blue stripes on its middle, a tray holding a black pot, a red-striped white napkin and small items at its back. Brown boxes are on a white table to the left of the round table, and a large brown cardboard structure is on the right side.", "global_instruction_dense": "The right robotic arm descends toward the blue-striped white napkin on the center of the white round table, grasps the napkin, moves it repeatedly across the table surface to wipe it, then releases the napkin and lifts upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 35, "tasks": ["wipe tissue"], "length": 340, "global_instruction": "Wipe the surface of the white round table using the folded white napkin.", "scene_description": "A white round table with a folded white napkin at its center, a tray holding a black pot and other items at the table's rear, and cardboard boxes on an adjacent side table, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm lowers to grasp the folded white napkin on the white round table, presses the napkin to the table surface, moves the napkin in repeating circular wiping motions across the table, then releases the napkin and lifts upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 36, "tasks": ["wipe tissue"], "length": 257, "global_instruction": "Wipe the white table surface using the white napkin placed on the table.", "scene_description": "A white round table has a white napkin at its center, a black coat draped over the chair on the table's right side, and a robotic arm positioned at the table's left side, with a person working at a desk in the background.", "global_instruction_dense": "The left robotic arm extends toward the white napkin on the round table, presses the napkin against the table surface, moves the napkin repeatedly across the table to wipe it, then lifts away from the napkin.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 37, "tasks": ["wipe tissue"], "length": 356, "global_instruction": "Wipe the white table surface using the white folded napkin", "scene_description": "A white round table holds a folded white napkin, a small white rectangular device, a black lidded pot, a red cup, a stainless steel bowl of dark grains, and a red plate with a metal spoon. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the folded white napkin on the table, grasps it with its gripper, and repeatedly wipes the white table surface with the napkin.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 38, "tasks": ["wipe tissue"], "length": 399, "global_instruction": "Wipe the white tabletop using the white cloth napkin", "scene_description": "A white round table holds a folded white napkin, a metal bowl of dark red beans, a red plate with a silver spoon, a red cup, a black lidded pot, and a small white rectangular device. A robotic arm setup is to the left of the table, with a person walking behind a glass partition in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the white cloth napkin on the white round table, wipes the table surface with the napkin in repeated back-and-forth motions, then releases the napkin and lifts away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 39, "tasks": ["wipe tissue"], "length": 780, "global_instruction": "Wipe the table surface and black pot lid using the white striped napkin, then return the napkin to the table.", "scene_description": "A white round table is positioned in front of a white robotic arm. On the table lie a white napkin with red stripes, a black lidded pot, a silver bowl of dark food, a red bowl with a silver spoon, and a red cup.", "global_instruction_dense": "The right robotic arm moves toward the white striped napkin on the table, grasps it, wipes the black pot lid, wipes the adjacent table surface, places the napkin back on the table, and retracts upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 40, "tasks": ["wipe tissue"], "length": 740, "global_instruction": "Wipe the white round table surface using the white napkin placed on the table.", "scene_description": "A white round table holds a white napkin, red plates, a red cup, a dark frying pan, a clear measuring cup, and metal utensils. A wheeled office chair is to the left of the table, a wooden chair to the right, and a dark worktable is on the far left.", "global_instruction_dense": "The left robotic arm moves down to the white napkin on the round table, grasps it, moves the napkin back and forth across the table surface to wipe the area, then releases the napkin and moves upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 41, "tasks": ["wipe tissue"], "length": 332, "global_instruction": "Wipe the surface of the white round table using the white napkin with red patterns.", "scene_description": "A white round table holds white cloth napkins with red patterns, a red plate, a red cup, a clear plastic measuring cup, a red bowl, and a dark frying pan with a black handle. A black worktable is to the left of the round table, a grey-and-black office chair is behind it, and a wooden folding chair with a white seat is to its right.", "global_instruction_dense": "The left robotic arm extends toward the white napkin with red patterns on the white round table, grasps the napkin, repeatedly moves it across the table surface to wipe it, then releases the napkin and lifts away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 42, "tasks": ["wipe tissue"], "length": 663, "global_instruction": "Wipe the surface of the white round table using the white paper napkin", "scene_description": "A white round table holds a red mug, a red bowl, a black frying pan, a clear measuring cup on a red plate, and white paper napkins. A black work desk is to the table's left, a gray mesh office chair sits behind the table, and a wooden chair with a white seat is to the table's right.", "global_instruction_dense": "The left robotic arm extends toward the white paper napkin on the white round table, grasps the napkin, moves it repeatedly across the table surface to wipe it, then releases the napkin and lifts away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 43, "tasks": ["wipe tissue"], "length": 411, "global_instruction": "Wipe the frying pan with the striped white napkin and place the napkin back on the table.", "scene_description": "A white round table holds a white tray with folded white napkins with red stripes, a dark purple frying pan, red tableware, a small green bottle, a wooden toy panel, and two onions, with a robotic arm on the left side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the striped white napkin on the white tray, grasps it, moves it to the dark purple frying pan, wipes the pan's interior with the napkin, then lifts the napkin and places it back on the table next to the tray.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 44, "tasks": ["wipe tissue"], "length": 431, "global_instruction": "Wipe the interior of the black frying pan with the white napkin with red stripes, then place the napkin back on the table.", "scene_description": "A white table holds a black frying pan on a white tray, a white napkin with red stripes to the right of the pan, red cups, a red plate with silverware, a small green bottle, and small round food items. A robotic arm base is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm extends toward the white napkin with red stripes on the table, grasps it, moves it to the black frying pan, wipes the pan's inside surface with the napkin, then lifts the napkin, places it back on the table, releases it, and moves away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 45, "tasks": ["wipe tissue"], "length": 570, "global_instruction": "Wipe the inner surface of the black frying pan using the white napkin with red stripes, then place the napkin back on the table.", "scene_description": "A black frying pan rests on a white tray on a white table. A white napkin with red stripes is at the lower right of the table, and to the right of the pan are a red mug, red funnel, small green bottle, and a red plate holding another napkin and utensils. A white robotic arm is positioned on the left side of the scene.", "global_instruction_dense": "The right robotic gripper moves toward the white napkin with red stripes on the table, grasps it, moves it over the black frying pan, releases it into the pan, re-grasps the napkin, wipes the pan's inner surface repeatedly with the napkin, then lifts the napkin and places it back on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 46, "tasks": ["wipe tissue"], "length": 497, "global_instruction": "Wipe the black frying pan with the folded white napkin then place the napkin back on the table.", "scene_description": "A white table holds a black frying pan on a white tray, a folded white napkin with red stripes to the right of the pan, and assorted kitchen items including red mugs, a red plate with utensils, a small green bottle, and eggs on the far right of the table, with a robotic arm positioned at the top of the frame.", "global_instruction_dense": "The right robotic arm moves toward the folded white napkin on the table, grasps it, wipes the interior of the black frying pan with the napkin, then places the napkin back on the table surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 47, "tasks": ["wipe tissue"], "length": 600, "global_instruction": "Wipe the interior of the dark frying pan using the white napkin with red stripes.", "scene_description": "A white table holds a dark frying pan, red plate with utensils, red mug, eggs, and white napkins with red stripes; a white robotic arm is positioned to the left of the table, with an office chair and glass office doors in the background.", "global_instruction_dense": "The right robotic arm moves down toward a white napkin with red stripes on the table, grasps the napkin, moves it into the dark frying pan, repeatedly wipes the pan's interior, then moves upward away from the pan.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 48, "tasks": ["wipe tissue"], "length": 444, "global_instruction": "Wipe the surface of the dark frying pan using a white napkin with red stripes", "scene_description": "A white round table in a lab-style room holds a white tray. On the tray are a dark non-stick frying pan, two white napkins with red stripes, a red mug, a white mug, a small red bowl, metal containers, a clear glass, red-handled cutlery, a small orange cap, and two yellow fruits in the background. A left robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm moves toward a white napkin with red stripes on the tray, grasps it, moves it over the dark frying pan, repeatedly wipes the pan's surface, then places the napkin back onto the tray.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 49, "tasks": ["wipe tissue"], "length": 259, "global_instruction": "Wipe the dark purple frying pan using the white napkin with red stripes.", "scene_description": "A white round table holds a white tray with a dark purple frying pan, red mug, red-handled utensils, and two white napkins with red stripes. Additional items including a silver container, red bowl, clear glass, silver lid, white mug, small shaker, folded cloths, and brown potatoes sit on the table outside the tray, with a robotic arm positioned above the table near the door.", "global_instruction_dense": "The right robotic arm moves toward the white napkin with red stripes on the white tray, grasps it, wipes the surface of the dark purple frying pan on the tray, then places the napkin on the right side of the tray.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 50, "tasks": ["wipe tissue"], "length": 613, "global_instruction": "Wipe the interior of the black frying pan using the white napkin with red stripes, then return the napkin to the tray.", "scene_description": "A white round table holds a white tray with a black frying pan, red mug, red-handled cutlery, and a white napkin with red stripes; a white robotic arm is positioned above the left side of the table, with a red bowl, white mug, small orange lid, and other small kitchen items placed behind the tray.", "global_instruction_dense": "The left robotic arm moves toward the white napkin with red stripes on the tray, grasps it, moves it to the black frying pan, wipes the interior of the pan repeatedly, then moves the napkin back to the tray and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 51, "tasks": ["wipe tissue"], "length": 469, "global_instruction": "Wipe the interior of the black frying pan with a red-striped white napkin, then place the napkin on the white tray.", "scene_description": "A white round table holds a white tray, on which rest a black frying pan, a red mug, and two white napkins with red stripes. Additional items including a white mug, red bowl, small metal containers, and yellow fruit are placed on the table around the tray, with a robotic arm positioned at the left of the table.", "global_instruction_dense": "The left robotic arm moves toward a white napkin with red stripes on the white tray, grasps the napkin, lifts it, wipes the interior of the black frying pan on the tray repeatedly, then moves the napkin to the right side of the tray and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 52, "tasks": ["wipe tissue"], "length": 566, "global_instruction": "Wipe the surface of the white tray using a white napkin.", "scene_description": "A white round table holds a central white rectangular tray, with a stack of white napkins behind the tray, a red mug, clear cup, silver lid, white mug, and small gray bottle to the tray's right. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the stack of white napkins behind the tray, grasps one napkin, lifts it, moves it over the white tray, and wipes the tray's surface repeatedly with the napkin.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 53, "tasks": ["wipe tissue"], "length": 401, "global_instruction": "Wipe the surface of the white rectangular tray using the white napkin with red stripes.", "scene_description": "A white robotic arm is positioned left of a round white table. A large white rectangular tray on the table holds a stack of white napkins with red stripes; red/white cups, small metal containers, and extra white napkins are to the tray's right. A black table with an orange-capped yellow emergency stop sits left of the robot, a storage shelf is in the right background, and a whiteboard is on the back wall.", "global_instruction_dense": "The left robotic arm moves down to the napkin stack on the tray, grasps the top white napkin with red stripes, moves the napkin repeatedly across the tray surface to wipe it, then releases the napkin onto the tray and lifts away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 54, "tasks": ["wipe tissue"], "length": 465, "global_instruction": "Wipe the inner surface of the dark frying pan using a white napkin.", "scene_description": "A white round table holds a dark frying pan, red plate, white napkin, red cups, and small containers. A white robotic arm is positioned to the left of the table, with a whiteboard and wooden storage shelf in the background.", "global_instruction_dense": "The left robotic arm moves to grasp a white napkin on the table, positions the napkin over the dark frying pan, wipes the pan's inner surface repeatedly, places the napkin back on the table, then moves its gripper upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 55, "tasks": ["wipe tissue"], "length": 443, "global_instruction": "Wipe the interior of the dark frying pan on the table using a white napkin.", "scene_description": "A white round table holds a dark non-stick frying pan, three red dishes (two small bowls, one large flat plate), stacked white napkins, a red mug, and small metallic containers. A white robotic arm is positioned to the left of the table, with a whiteboard, storage shelves, and chairs in the background.", "global_instruction_dense": "The left robotic arm moves toward the stack of white napkins on the table, grasps one napkin with its gripper, moves the napkin over the dark frying pan, wipes the pan's interior repeatedly in circular motions, then places the used napkin back on the table surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 56, "tasks": ["wipe tissue"], "length": 480, "global_instruction": "Wipe the large red plate on the table using the white napkin.", "scene_description": "A white round tabletop holds a black frying pan, one large red plate, two small red bowls, a white napkin, and assorted cups on its right side. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the white napkin on the table, uses the napkin to repeatedly wipe the surface of the large red plate, places the napkin back on the table, then retracts upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 57, "tasks": ["wipe tissue"], "length": 338, "global_instruction": "Wipe the interior of the black frying pan using the white napkin", "scene_description": "A white round table holds a black frying pan, three red plates, a white napkin, white mugs, and a red mug. A white robotic arm is positioned to the left of the table, with a whiteboard and storage shelves in the background.", "global_instruction_dense": "The left robotic arm moves to grasp the white napkin on the table, lifts it, moves it to the black frying pan, wipes the pan's interior in circular motions, then places the napkin back on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 58, "tasks": ["wipe tissue"], "length": 398, "global_instruction": "Wipe the red plate on the table using the white napkin", "scene_description": "A white round table holds a dark frying pan, red plates, red bowls, white napkins, and mugs. A white robotic arm is positioned to the left of the table, with a whiteboard, storage shelves, and office chairs in the background.", "global_instruction_dense": "The left robotic arm moves toward the white napkin on the table, grasps it, wipes the surface of the red plate repeatedly with the napkin, places the napkin back on the table, then retracts its gripper.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 59, "tasks": ["wipe tissue"], "length": 694, "global_instruction": "Wipe the red plate with a white napkin then place the napkin back on the table", "scene_description": "A white round table holds a clear plastic cup, two red bowls, a red mug, a red plate, a dark frying pan, two white napkins, and silver utensils. A wooden chair is to the table's right, and a black workbench is to its left.", "global_instruction_dense": "The left robotic arm moves to grasp a white napkin on the left side of the table, lifts it, wipes the surface of the red plate with the napkin in repeated circular motions, then moves the napkin back to the left side of the table, releases it, and retracts upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 60, "tasks": ["wipe tissue"], "length": 565, "global_instruction": "Wipe the red plate on the table with a white napkin, then place the napkin on the table.", "scene_description": "A white round table holds a red bowl, red plate, red mug, dark frying pan, two white napkins, a clear plastic cup, and two small metal utensils. A black workbench is to the left of the table, and a wooden chair with white padding is to the right.", "global_instruction_dense": "The left robotic arm moves toward the white napkin on the left side of the table, grasps it, repeatedly wipes the surface of the red plate with the napkin, then moves the napkin to the left of the plate and places it on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 61, "tasks": ["wipe tissue"], "length": 771, "global_instruction": "Wipe the red plate with a napkin, then place the clear plastic cup onto the red plate.", "scene_description": "A white round table holds a red plate, red bowl, red mug, dark frying pan, clear plastic cup, two white napkins, and small silver utensils. A black workbench with clamps is to the table's left, and a wooden chair with a white seat is to the right.", "global_instruction_dense": "The left robotic arm grasps the white napkin on the left side of the red plate, repeatedly wipes the surface of the red plate, places the napkin back on the table left of the plate, then grasps the clear plastic cup left of the plate, moves it onto the red plate and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 62, "tasks": ["wipe tissue"], "length": 624, "global_instruction": "Wipe the surface of the white round table using the white napkin.", "scene_description": "A white round table holds a red plate, red bowl, red mug, clear plastic cup, stacked white napkins, small metal utensils, and a dark frying pan. A black workbench is to the left of the table, a wooden chair with a white board is to the right, and white walls form the background.", "global_instruction_dense": "The left robotic arm moves downward toward the white napkins on the white round table, presses down on a napkin to secure it, moves the napkin repeatedly across the table surface to wipe it, then lifts upward and moves away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 63, "tasks": ["wipe tissue"], "length": 451, "global_instruction": "Wipe the surface of the white round table using a white napkin", "scene_description": "A white round table holds a red plate, red bowl, red mug, dark frying pan, clear plastic cup, white napkins, and small silver utensils. A black worktable is to the left of the round table, with chairs arranged around the area against white walls.", "global_instruction_dense": "The left robotic arm descends to grasp a white napkin on the white round table, moves the napkin repeatedly across the table surface to wipe it, then releases the napkin and lifts away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 64, "tasks": ["wipe tissue"], "length": 690, "global_instruction": "Wipe the red plate on the round table with a white napkin then place the napkin on the table.", "scene_description": "A white round table holds a red plate, a red bowl, a red mug, a black frying pan, two metal forks, two clear plastic cups, and two white napkins. A black worktable with a robotic arm is to the left of the round table, and a wooden chair with a white seat is to its right.", "global_instruction_dense": "The left robotic arm moves toward a white napkin on the round table, grasps it, wipes the surface of the red plate repeatedly with the napkin, then moves the napkin to the left side of the table and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 65, "tasks": ["wipe tissue"], "length": 704, "global_instruction": "Wipe the red plate on the white round table using the white napkin, then place the napkin on the table.", "scene_description": "A white round table holds a red plate, red bowl, red mug, dark frying pan, clear plastic cup, small metal utensils, and two white napkins. A black worktable is to the left of the round table, a wooden chair with a white seat to the right, and a grey office chair behind the table.", "global_instruction_dense": "The left robotic arm grasps the white napkin on the left side of the white round table, lifts it, wipes the surface of the red plate with repeated circular motions, then moves the napkin to the left side of the table near the red bowl, releases it, and retracts upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 66, "tasks": ["wipe tissue"], "length": 529, "global_instruction": "Wipe the black frying pan and white tabletop using a white napkin with red stripes.", "scene_description": "A white round table holds a black frying pan, a red cup, a flat red plate, a red bowl, and two white napkins with red stripes. Stacked wooden chairs are to the table's right, a black workbench is to its left.", "global_instruction_dense": "The robotic arm moves down to grasp a white napkin with red stripes from the round table, wipes the interior of the black frying pan on the table, then wipes the white table surface, before releasing the napkin and moving away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 67, "tasks": ["wipe tissue"], "length": 547, "global_instruction": "Wipe the interior of the frying pan with a napkin then place the napkin on the table.", "scene_description": "A white round table holds a dark frying pan, a red cup, a red plate, a red bowl, and two white napkins. A black worktable is to the left of the round table, and folded wooden chairs are against the white wall to the right.", "global_instruction_dense": "The left robotic arm grasps a white napkin from the round table, wipes the inner surface of the dark frying pan with it, then places the used napkin on the table next to the other white napkin.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 68, "tasks": ["wipe tissue"], "length": 287, "global_instruction": "Wipe the white table surface using the white tissue on the table.", "scene_description": "A white office table holds a purple pen, green block, yellow block, open light wooden box, patterned paper cup, small yellow block, red cap, white coaster, dark blue mug, small beige cube, white tissue, blue block, and orange plate. A right robotic arm is positioned above the far end of the table, with office chairs to the left and monitor-equipped desks in the background.", "global_instruction_dense": "The right robotic arm moves downward to reach the white tissue on the table, presses the tissue against the table and moves it in repeated strokes to wipe the surface, then lifts upward and returns to its initial position.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 69, "tasks": ["wipe tissue"], "length": 412, "global_instruction": "Wipe the white table surface using the white napkin", "scene_description": "A white table holds an orange bowl on the left, yellow blocks, a green pentagonal block, a light brown wooden box, a purple pen, a glue stick, a patterned white cup, a dark blue cup, a small red cap, a small silver can, and a white napkin; the right robotic arm is positioned above the right side of the table, with office chairs and a wooden panel wall to the left, and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the white napkin on the table, grasps the napkin with its gripper, moves the napkin across the table surface to wipe it, then releases the napkin and lifts upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 70, "tasks": ["wipe tissue"], "length": 378, "global_instruction": "Wipe the white plate on the table with a napkin, then place the napkin beside the white patterned cup.", "scene_description": "A white table holds an orange bowl on the left, a yellow block, green block, purple pen, light wooden box, white plate, dark blue mug, white patterned cup, and small assorted items; a white robotic arm is positioned at the right of the table, with office chairs along the left wooden wall and office workstations in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white napkin near the plate, repeatedly wipes the surface of the white plate with the napkin, moves the napkin to the area beside the white patterned cup, releases the napkin, and lifts its gripper upward to finish the task.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 71, "tasks": ["wipe tissue"], "length": 430, "global_instruction": "Wipe the white table surface with the white tissue", "scene_description": "A white office table holds an orange bowl, dark blue mug, light wooden open box, patterned paper cup, yellow block, blue block, green block, white tissue, red-capped glue stick, small trinkets, and a white robotic arm is positioned above the table's right side.", "global_instruction_dense": "The right robotic arm moves down toward the white tissue on the table, grasps it, moves it repeatedly across the table surface near the dark blue mug to wipe the area, places the tissue back on the table, then lifts upward away from the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 72, "tasks": ["wipe tissue"], "length": 382, "global_instruction": "Wipe the window glass using the white paper tissue from the table", "scene_description": "A white table sits next to a window with leafy green trees visible outside. On the table are a white paper tissue, small writing tools, green tennis balls, small yellow cylinders, and a white robotic arm above the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the white paper tissue on the table, lifts it to the window glass, moves it repeatedly across the glass to wipe the surface, then lowers the tissue back to the table and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 73, "tasks": ["wipe tissue"], "length": 190, "global_instruction": "Wipe the dark wooden table surface using the white tissue.", "scene_description": "A dark brown wooden table holds a small pink bowl, a crumpled white tissue, a yellow small container with a green spherical topper, a pale yellow rabbit figurine, and small orange objects. A white and black robotic arm is positioned above the upper right of the table, with a person standing in a background doorway.", "global_instruction_dense": "The right robotic arm moves downward to the white tissue on the table, presses the tissue against the table to wipe the surface repeatedly, then lifts upward away from the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 74, "tasks": ["wipe tissue"], "length": 373, "global_instruction": "Wipe the dark brown table surface using the white tissue sheet", "scene_description": "A dark brown table holds a small pink cactus pot, a light green rabbit figurine, an orange toy figurine, a transparent plastic bag, a white tissue sheet, a small yellow bowl, and a black clamp, with a robotic arm positioned above the table and doorways to other rooms in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the white tissue on the table, grasps the tissue, moves it repeatedly across the table surface to wipe the area, then releases the tissue and lifts upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 75, "tasks": ["wipe tissue"], "length": 369, "global_instruction": "Wipe the wooden table surface using the white napkin", "scene_description": "A wooden table holds a printed book, green tennis ball, pink small cup, yellow small cup, blue pen, yellow plush toy, orange wheeled toy, plastic bag, and white napkin. A robotic arm is positioned at the top right, with two people standing in background doorways.", "global_instruction_dense": "The right robotic arm moves down to grasp the white napkin on the wooden table, lifts the napkin, wipes different areas of the table surface by moving the napkin across it repeatedly, then releases the napkin onto the table and lifts away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 76, "tasks": ["wipe tissue"], "length": 368, "global_instruction": "Wipe the dark wooden table surface using the white napkin", "scene_description": "A dark brown wooden table is partially covered with tan cloth. On the table are a small yellow cup, white glue stick, green tennis ball, fruit container, white napkin, small white card, and two coins, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white napkin on the table, moves the napkin repeatedly across the table surface to wipe it, then releases the napkin and lifts upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 77, "tasks": ["wipe tissue"], "length": 177, "global_instruction": "Pick up the white tissue on the table, wipe the table surface, then place the tissue back on the table.", "scene_description": "A dark wooden table holds a yellow small bowl, green tennis ball, orange toy car, glue stick, white tissue, small white card, and two silver coins. A robotic arm is positioned at the upper right of the table, with doorways and a kitchen area in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the white tissue on the table, grasps and lifts it, moves it across the table surface to wipe the table, then places the tissue back on the table and retracts upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 78, "tasks": ["wipe tissue"], "length": 576, "global_instruction": "Wipe the kitchen counter with a white napkin then place the napkin on the counter.", "scene_description": "A white tiled kitchen counter holds a white toaster oven on the left, a translucent plastic container with a red lid, a light blue cup, and a gray-and-white striped cloth near the sink, with white cabinets above the counter.", "global_instruction_dense": "The right robotic arm descends to the kitchen counter, grasps a white napkin, wipes the tiled counter surface repeatedly, hangs the napkin on an overhead rack briefly, then lowers and places the napkin back on the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 79, "tasks": ["wipe tissue"], "length": 526, "global_instruction": "Wipe the surface above the white toaster oven using a paper towel.", "scene_description": "A white tiled kitchen counter holds a white container with a red lid on the left, a white toaster oven behind it, a striped paper towel pack with a protruding white sheet in the center, a light blue bowl below the container, a sink at the rear right, and a right robotic arm at the upper right above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the protruding paper towel on the striped pack, grasps and lifts it, moves to the area above the white toaster oven, wipes the surface repeatedly, then moves the used paper towel away from the toaster oven area.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 80, "tasks": ["wipe tissue"], "length": 540, "global_instruction": "Wipe the kitchen counter surface using a white paper towel.", "scene_description": "A white kitchen counter holds a white semi-transparent container with a red lid on the far left, a striped fabric tissue box, a clear rectangular plastic tray, a green circular lid, a small container with a dark blue lid, a glass with green liquid, and a sink with a silver faucet in the background. A right robotic arm is positioned above the right section of the counter.", "global_instruction_dense": "The right robotic arm first manipulates the green circular lid on the kitchen counter, then moves to grasp a white paper towel, uses the paper towel to wipe the counter surface in repeated motions, then releases the paper towel and lifts away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 81, "tasks": ["wipe tissue"], "length": 311, "global_instruction": "Extract a tissue from the green container and wipe the adjacent kitchen countertop with it.", "scene_description": "A light green lidded plastic container with a transparent lower half sits on a white tiled kitchen countertop, and a robotic arm is mounted on a wooden base at the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the light green lidded container, grasps and pulls a white tissue out of the container, places the tissue on the adjacent white tiled countertop, then wipes the countertop surface with the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 82, "tasks": ["wipe tissue"], "length": 239, "global_instruction": "Wipe the white tiled kitchen counter using the white tissue.", "scene_description": "A large light green translucent container is on the left of a white tiled kitchen counter, a white tissue lies further down the counter, and a right robotic arm is at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the white tissue on the counter, grasps and lifts the tissue, wipes the counter surface repeatedly with it, then lifts the tissue away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 83, "tasks": ["wipe tissue"], "length": 279, "global_instruction": "Wipe the kitchen counter surface near the blue cup using a white napkin.", "scene_description": "A white tiled kitchen counter holds a large green container on the left, a striped cloth, a white plate with a light blue dual-handled cup on it near the center, and a Franka robotic arm on the right side, with white cabinets and a doorway in the background.", "global_instruction_dense": "The right robotic arm moves down toward the white napkin on the tiled kitchen counter, grasps the napkin, lifts it, wipes the counter surface surrounding the blue cup on the white plate, then releases the napkin and moves upward away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 84, "tasks": ["wipe tissue"], "length": 304, "global_instruction": "Wipe the white table surface using the white paper towel placed on the table.", "scene_description": "A white tabletop holds a light yellow bunny figurine, dark pen, clear cup with green liquid, two yellow tennis balls on stands, small brown block, wooden block structure, small yellow bowl, tiny green ball, orange toy car, and white paper towel at the front. A white robotic arm is positioned on a workbench to the right of the table, with a window with white blinds on the left of the room.", "global_instruction_dense": "The right robotic arm moves its end effector downward toward the white paper towel, grasps the towel to wipe the table surface with back-and-forth motions, then releases the towel and lifts its end effector upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 85, "tasks": ["wipe tissue"], "length": 689, "global_instruction": "Wipe the white tabletop using the white paper towel.", "scene_description": "A white tabletop near a window holds a yellow bunny figurine, green Expo marker, clear plastic cup, black pen, small brown wooden blocks, tiny green ball, orange toy car, small yellow bowl, and a white paper towel. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves down toward the white paper towel on the table, grasps it, moves the paper towel across the table surface to wipe the area, then releases the towel and lifts away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 86, "tasks": ["wipe tissue"], "length": 391, "global_instruction": "Wipe the white plate with a white tissue then place the used tissue on the small blue cup.", "scene_description": "A white tiled kitchen counter has a white granulated sugar box with a red cupcake graphic at the front left, with a black vintage scale, clear plastic container, white plate holding a spoon, white bowl with a small blue cup on top, and red container arranged behind it from left to right; a robotic arm is initially positioned above the background doorway.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white tissue, positions it over the white plate, wipes the plate's surface repeatedly with the tissue, moves the tissue to place it on top of the small blue cup, then moves upward away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 87, "tasks": ["wipe tissue"], "length": 277, "global_instruction": "Wipe the kitchen counter with a white tissue and place the used tissue on the white plate.", "scene_description": "A white tiled kitchen counter holds a white granulated sugar box in the front left, a white plate, a light blue double-handled cup, a small off-white bowl, and a clear plastic container with a red lid at the back, with a black wall clock on the left and a robotic arm at the top right in the initial frame.", "global_instruction_dense": "The right robotic arm moves down to grasp a white tissue on the kitchen counter, wipes the tiled counter surface with the tissue repeatedly, places the used tissue onto the white plate on the counter, then moves upward away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 88, "tasks": ["wipe tissue"], "length": 649, "global_instruction": "Wipe the window using the white tissue from the counter, then place the tissue back on the counter.", "scene_description": "A white countertop next to windows holds a printed book, a white tissue, a yellow stuffed rabbit, a green tennis ball, an orange toy car, a blue pen, and a black stamp on the left, with a robotic arm above the window.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the white tissue on the counter, lifts it to the window, repeatedly wipes the window glass with the tissue, moves the tissue back to the counter, releases it, and lifts away from the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 89, "tasks": ["wipe tissue"], "length": 326, "global_instruction": "Wipe the kitchen counter surface using the white paper napkin.", "scene_description": "A white granulated sugar box, a plate with food, a white pitcher with a red lid, and a white paper napkin are placed on a white tiled kitchen counter. A black clock is mounted on the tiled wall behind the counter, and a robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white paper napkin on the kitchen counter, wipes the tiled counter surface in multiple motions, then lifts upward away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 90, "tasks": ["wipe tissue"], "length": 217, "global_instruction": "Wipe the white table surface using the white tissue paper.", "scene_description": "A white table sits in front of a window, with a yellow tennis ball on a black stand near the window, small purple and yellow plastic containers left of the stand, a brown polygonal object and earbud wires on the table foreground, and a white tissue further back on the table, with a living room visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the white tissue on the table, grasps the tissue with its gripper, then moves the tissue back and forth across the table surface to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 91, "tasks": ["wipe tissue"], "length": 222, "global_instruction": "Wipe the white tabletop surface using the white tissue placed on the table.", "scene_description": "A white table holds a white tissue sheet, a clear green cup, purple and yellow small plastic bowls, and dark patterned metal objects. A living area with a gray couch is visible through a doorway in the background.", "global_instruction_dense": "The right robotic arm descends from above the table, grasps the white tissue sheet on the table, moves the tissue repeatedly across the table surface to wipe it, then releases the tissue and lifts upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 92, "tasks": ["wipe tissue"], "length": 374, "global_instruction": "Wipe the left vertical edge of the upper white table with the white paper towel", "scene_description": "A two-tiered white table is near a window with blinds: upper tier holds a green tennis ball, yellow cup, white paper towel, and stacked books under a cloth; lower tier has an orange toy car, purple small cup, yellow rabbit figurine, small green ball, and a left-side mirror reflecting the toys, with a robotic arm positioned above the upper tier.", "global_instruction_dense": "The right robotic arm grasps the white paper towel on the upper table, moves it to the upper table's left vertical edge, repeatedly wipes the edge, then moves the paper towel back to the upper table surface and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 93, "tasks": ["wipe tissue"], "length": 367, "global_instruction": "Wipe the lower table surface with the white tissue on the upper ledge, then return the tissue to the upper ledge.", "scene_description": "A two-level white table is beside a window with blinds. The upper ledge holds a white tissue, stacked books and a cloth; the window sill has a purple bowl and green tennis ball. The lower table surface holds a light yellow rabbit figurine, small green ball, orange toy car and yellow small cup, with a mirror on the left edge of the lower table.", "global_instruction_dense": "The right robotic arm moves to grasp the white tissue on the upper ledge, lowers it to the lower table surface, wipes the table area near the rabbit figurine with the tissue, then lifts the tissue back to the upper ledge and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 94, "tasks": ["wipe tissue"], "length": 330, "global_instruction": "Wipe the orange-green toy car on the countertop with a tissue.", "scene_description": "A white countertop holds a centered orange-green toy car, a yellow tennis ball, a purple small bowl, a yellow small bowl, two beige rabbit figurines, and a black candle holder. A higher white ledge behind the counter has tissues and other items, next to a window with blinds, and a white robotic arm is on the right of the frame.", "global_instruction_dense": "The right robotic gripper moves to the upper ledge to grasp a white tissue, lowers the tissue to the toy car on the counter, repeatedly wipes the car's surface, then lifts the tissue back to the upper ledge and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 95, "tasks": ["wipe tissue"], "length": 406, "global_instruction": "Wipe the interior of the red tabletop cup using a tissue pulled from the striped tissue box", "scene_description": "A dining table with a lemon-patterned tablecloth holds a left-side McDonald's takeout bag, digital scale, yellow bananas, a white bowl with a small purple cup inside, striped tissue box, red cup, beige bowl, and green packets. A robotic arm is on the table's right, with floral-curtained windows, wooden chairs, and a white-cabinet kitchen in the background.", "global_instruction_dense": "The right robotic arm moves to the striped tissue box, extracts a tissue, moves the tissue to the red cup, repeatedly wipes the inner surface of the red cup, then drops the used tissue next to the cup and retracts.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 96, "tasks": ["wipe tissue"], "length": 360, "global_instruction": "Pull a tissue from the striped tissue box and use it to wipe the kitchen counter.", "scene_description": "A white tiled kitchen counter holds a striped tissue box, a clear glass with light green liquid, and a small green object next to a white double sink, with white overhead cabinets and a robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the striped tissue box on the kitchen counter, grasps a tissue, pulls it out of the box, lowers the tissue to the counter surface, and repeatedly wipes the counter with the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 97, "tasks": ["wipe tissue"], "length": 466, "global_instruction": "Wipe the kitchen counter and adjacent tiled wall surface using a white tissue.", "scene_description": "A white tiled kitchen counter holds a wooden rolling pin, black cup, white plate with food scraps, small green object, and clear glass of liquid, with a Franka Emika robotic arm positioned to the right of the counter, sinks and white cabinets visible in the background.", "global_instruction_dense": "The right robotic gripper grasps a white tissue from the kitchen counter, moves it to wipe the counter surface, lifts it to wipe the tiled wall near the sink, moves it back to wipe the counter surface, then releases the tissue onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 98, "tasks": ["wipe tissue"], "length": 428, "global_instruction": "Wipe the gold-framed wall painting using the white tissue on the side table", "scene_description": "A white side table holds a black-and-white checkered tissue box, a flat white tissue sheet, and a small white square device; a gold-framed painting hangs on the wall above the table, a dark wooden dresser is to the right of the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the flat white tissue on the side table, lifts the tissue to the gold-framed wall painting, wipes the painting's frame repeatedly, then lowers and drops the used tissue back on the table before moving away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 99, "tasks": ["wipe tissue"], "length": 568, "global_instruction": "Wipe the gold framed wall painting with a tissue then remove the brown cowboy hat from the table.", "scene_description": "A white table is against a light grey wall with a gold framed painting mounted above it. On the table, there is a black and white checkered tissue box, a brown cowboy hat, and a small white container. A wooden headboard is to the left of the table, a dark brown dresser with a blue hanger on top is to the right, and a robotic arm is at the top right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the tissue box, grasps a tissue, lifts it to the gold framed wall painting to wipe the painting surface, drops the used tissue next to the tissue box, then grasps the brown cowboy hat, lifts it, and moves it out of the scene.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 100, "tasks": ["wipe tissue"], "length": 688, "global_instruction": "Wipe the white tiled kitchen counter after moving the light blue bowl to clear the surface.", "scene_description": "A striped tissue box is on the left of a white tiled kitchen counter. On the counter are a clear water bottle, white mug with orange flower print, black cup, light blue small bowl, white plate, and purple dish soap next to a silver faucet sink. A robotic arm is positioned at the top right above the counter, with upper white cabinets and a side counter holding a clock, toaster, and rolling pin in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the light blue bowl on the counter, lifts and moves it left to place it near the white plate, then moves right to grasp a paper towel, and wipes the tiled kitchen counter surface with repeated back-and-forth motions.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 101, "tasks": ["wipe tissue"], "length": 806, "global_instruction": "Wipe the kitchen counter using a white tissue.", "scene_description": "A white tiled kitchen counter holds a purple dish soap bottle, small clear bottle, yellow sponge, pink floral mug, stacked teal cups on a white plate, small black pot, and tissue box on the left; a white cabinet is above, a sink with a silver faucet is in the background, and a robotic arm is on the right.", "global_instruction_dense": "The right robotic arm moves left to grasp a white tissue from the tissue box, moves the tissue to the tiled counter surface, wipes the counter repeatedly in back-and-forth motions, then releases the used tissue onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 102, "tasks": ["wipe tissue"], "length": 481, "global_instruction": "Pour liquid from the orange-capped bottle onto the paper towel then wipe the kitchen counter with the towel.", "scene_description": "A Franka Emika robotic arm is positioned on the right side of a white tiled kitchen counter. On the counter, there is an orange-capped bottle, a white paper towel, a wooden knife block next to a gas stove with black and silver pots on it, and white upper cabinets above the counter.", "global_instruction_dense": "The right robotic arm reaches toward the orange-capped bottle on the kitchen counter, grasps it, tilts it to pour liquid onto the adjacent white paper towel, places the bottle back on the counter, grasps the dampened paper towel, and uses it to wipe the tiled counter surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 103, "tasks": ["wipe tissue"], "length": 338, "global_instruction": "Wipe the interior of the large white bowl using the white table napkin.", "scene_description": "A table covered in a lemon-patterned tablecloth holds a silver Apple laptop, a green-lidded container, a large white bowl, two red bowls, a white napkin, and a small purple object, with a robotic arm positioned to the right of the table and windows with patterned curtains in the background.", "global_instruction_dense": "The right robotic arm moves toward the white napkin on the table, grasps it, lifts it and moves it over the large white bowl, wipes the bowl's interior repeatedly, then lifts the napkin and places it back on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 104, "tasks": ["wipe tissue"], "length": 258, "global_instruction": "Wipe the interior of the white patterned bowl using the white paper napkin", "scene_description": "A table with a yellow floral tablecloth holds a green-lidded container, a white floral-patterned bowl, a white paper napkin, small utensils, and a small red object. A right robotic arm is positioned on the right, with floral-curtained windows and framed wall art in the background.", "global_instruction_dense": "The right robotic arm grasps the white paper napkin on the table, moves it to the white patterned bowl, wipes the bowl's interior with the napkin, then places the used napkin back on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 105, "tasks": ["wipe tissue"], "length": 1076, "global_instruction": "Wipe scattered debris off the wooden table using a paper tissue.", "scene_description": "A wooden table holds scattered small debris, a roll of blue tape, a black keyboard, a woven wooden basket on the left, and background items including a straw hat and white plates; a gray couch with orange and blue cushions is in the far background, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm first moves the blue tape to the rear of the table out of the way, then grasps a white paper tissue, and uses the tissue to repeatedly wipe scattered small debris off the wooden table surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 106, "tasks": ["wipe tissue"], "length": 958, "global_instruction": "Clear the kitchen counter of items, then wipe the counter surface with a paper towel.", "scene_description": "A white tiled kitchen counter adjacent to a white gas stove holds a small black saucepan, a white mug with blue floral patterns, a clear plastic bottle, a small green object, a white plastic hanger, crumpled white tissue, a striped paper towel holder, a blue cloth on the stove, a dark teal kettle on the back right of the stove, and a wooden knife block with knives; white upper cabinets are mounted above the counter.", "global_instruction_dense": "The right robotic arm first grasps and moves the small black saucepan to the left side of the counter near the mug, then grasps and moves the white plastic hanger to the left side of the counter, pulls a paper towel from the striped paper towel holder, and repeatedly wipes the tiled kitchen counter surface with the paper towel.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 107, "tasks": ["wipe tissue"], "length": 1131, "global_instruction": "Move the pan and water bottle aside, then wipe the kitchen counter with a paper tissue.", "scene_description": "A small black pan, a clear labeled water bottle, a white mug, and a small green object are placed on a white tiled kitchen counter next to a gas stove with a dark green kettle. A white refrigerator is on the right, white cabinets are above the counter, and a right-mounted robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm first grasps the small black pan near the stove, moves it to the left side of the counter, then grasps the clear water bottle and shifts it leftward, then extracts a paper tissue from the tissue box next to the stove, and repeatedly wipes the white tiled counter surface to clean it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 108, "tasks": ["wipe tissue"], "length": 453, "global_instruction": "Wipe the surface of the empty white plate using a paper napkin.", "scene_description": "A table covered with a blue tablecloth printed with yellow lemons and green leaves holds a black small cooking pot, a clear plastic cup with dark liquid and a straw, a light green round fruit, a white printed ceramic mug, an empty white plate, a small purple bowl, a metal knife, a wooden utensil, a closed laptop, and paper napkins. A white robotic arm is positioned on the right side of the table, with floral curtain windows, wooden chairs, and framed wall art in the background.", "global_instruction_dense": "The right robotic arm moves toward a paper napkin on the table, grasps it, moves it over the empty white plate, wipes the plate surface with the napkin in repeated back-and-forth motions, releases the napkin onto the plate, then moves its gripper upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 109, "tasks": ["wipe tissue"], "length": 278, "global_instruction": "Pick up the white tissue on the shelf and wipe the blue spray bottle with it.", "scene_description": "A black two-tier metal shelf is placed on a dark wooden table. On the shelf's top layer: a blue spray bottle with yellow and red parts, a black grid-patterned tissue box, a loose white tissue, a pair of grey slippers, and a blue sneaker. A white robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the white tissue on the shelf, grasps it, lifts it, moves to the blue spray bottle, and wipes the bottle with the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 110, "tasks": ["wipe tissue"], "length": 1215, "global_instruction": "Pull a tissue from the tissue box and use it to wipe the gray sneaker on the table.", "scene_description": "A dark tabletop holds a black-and-white patterned tissue box, a blue spray bottle with a white and red nozzle, a gray sneaker, and a white paper sheet. A white robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the tissue box, grasps and extracts a tissue, holds the tissue to receive cleaning liquid from the spray bottle, then moves the tissue to the gray sneaker and repeatedly wipes the sneaker's surface with the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 111, "tasks": ["wipe tissue"], "length": 240, "global_instruction": "Wipe the white sneaker with the tissue then place the used tissue on the table.", "scene_description": "A dark brown table sits left of a white robotic arm. On the table: a black-and-white checkered tissue box, stacked striped cloths, a blue spray bottle with red nozzle, and a white sneaker with a white tissue resting on it.", "global_instruction_dense": "The right robotic arm moves toward the white tissue on the sneaker, grasps the tissue, wipes the sneaker's surface repeatedly, then places the used tissue on the dark brown table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 112, "tasks": ["wipe tissue"], "length": 316, "global_instruction": "Wipe the blue spray bottle with a tissue, then place the used tissue on the dark brown dresser.", "scene_description": "A blue spray bottle with a white and red nozzle sits on a light beige table in front of a light-colored chair. Behind the table is a bed with a multicolored circular-patterned bedspread. To the right of the table is a dark brown dresser holding a striped tissue box, gray clothing, and gray sneakers, with a white and black robotic arm above the dresser and a framed picture on the wall.", "global_instruction_dense": "The right robotic arm moves toward the striped tissue box on the dark brown dresser, pulls out a white tissue, moves the tissue to the blue spray bottle on the light table, wipes the spray bottle's nozzle with the tissue, then moves the tissue to the dresser and releases it onto the dresser surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 113, "tasks": ["wipe tissue"], "length": 426, "global_instruction": "Wipe the surface of the dark brown dresser using a white paper towel.", "scene_description": "A small light-colored table holds a gray garment and a blue spray bottle with a red and white nozzle. Next to it is a dark brown dresser with white papers, a small patterned container, shoes, and a small green bottle. A white chair sits between the small table and a bed with a colorful polka-dot pillow, a framed picture hangs on the wall, and a robotic arm is positioned in the top right.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white paper from the dark brown dresser, moves the paper repeatedly across the dresser surface to wipe it, adjusts its position to clean multiple areas of the dresser, then lifts the paper away from the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 114, "tasks": ["wipe tissue"], "length": 1118, "global_instruction": "Pour excess laundry detergent from a blue scoop into a dustpan, then wipe the washing machine surface with a paper towel and discard the used towel.", "scene_description": "A white Amana washing machine sits under large windows overlooking a backyard with trees and a wooden fence. On the washing machine top: a light blue plastic detergent scoop, an orange plastic bowl, a black bristle brush with a white handle, a yellow plastic tool, and a white dustpan with a black edge. A box of laundry detergent rests on the adjacent dryer to the right.", "global_instruction_dense": "The right robotic arm enters the frame, moves to the light blue detergent scoop, grasps and lifts it, tilts it to pour white detergent powder into the white dustpan, places the empty scoop back on the washing machine, grasps a paper towel, wipes the washing machine surface with the towel, then drops the used paper towel into the dustpan before moving away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 115, "tasks": ["wipe tissue"], "length": 307, "global_instruction": "Grasp a white napkin to wipe the inside of the white mug, then place the napkin back on the table.", "scene_description": "A light brown wooden table holds white paper napkins, a white ceramic mug, a small light blue bowl, red/yellow/black round discs, a stapler, a floral decorative frame on the left, a yellow bag of small wooden pieces, and metal cutlery. White horizontal blinds are on the left, a white door with a yellow-black safety barrier is in the background.", "global_instruction_dense": "The right robotic gripper descends from above the table, grasps a white paper napkin, repeatedly wipes the interior of the white ceramic mug, places the used napkin back on the table, then retracts upward away from the workspace.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 116, "tasks": ["wipe tissue"], "length": 380, "global_instruction": "Wipe the window above the sink using a paper towel.", "scene_description": "A white sink sits below a window, with a white soap bottle and blue dish rack on the sink counter. A white paper towel roll is mounted under the upper cabinet to the right of the window, and a light green cabinet door is on the left. A right robotic arm is positioned above the sink near the window.", "global_instruction_dense": "The right robotic arm grasps a white paper towel, lifts it up to the window above the sink, wipes the window glass with the paper towel in repeated back-and-forth motions, then moves the used paper towel down toward the sink area.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 117, "tasks": ["wipe tissue"], "length": 378, "global_instruction": "Wipe the kitchen counter surface using the white napkin", "scene_description": "A light wooden kitchen counter holds a white napkin on a green striped cloth, a black square object, a blue scoop, multiple black kitchen utensils, two white mugs, and a clear water bottle. A raised dark wood bar to the left has a pump hand sanitizer bottle, a metal pot on a white container in an aluminum tray, with a Franka Emika robotic arm on the right of the counter and a dining area with a brown door in the background.", "global_instruction_dense": "The right robotic arm moves toward the white napkin on the green striped cloth, grasps it, moves it repeatedly across the kitchen counter to wipe the surface, then releases the napkin onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 118, "tasks": ["wipe tissue"], "length": 298, "global_instruction": "Pull a tissue from the patterned tissue box, wipe the dark brown table, then place the used tissue beside the tissue box.", "scene_description": "A dark brown table is positioned against light yellow paneled walls. On the table, there is a black-and-white patterned tissue box with a white tissue sticking out, a small black remote next to the tissue box. A white robotic arm with black accents is on the upper right of the frame, an orange tool lies on the floor below the table, and a mirror mounted on the right wall reflects the room.", "global_instruction_dense": "The right robotic arm moves toward the patterned tissue box on the dark brown table, grasps and extracts a white tissue from the box, uses the tissue to wipe the table's surface, then places the used tissue next to the tissue box on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 119, "tasks": ["wipe tissue"], "length": 206, "global_instruction": "Wipe the white board on the stove top with the paper towel, then dispose of the used paper towel.", "scene_description": "Light yellow kitchen wall has three tiers of metal spice racks with assorted spice jars, a white gas stove sits below the racks, a white flat board and a white paper towel are on the stove top, a robotic arm is positioned to the right of the stove.", "global_instruction_dense": "The right robotic arm reaches toward the white paper towel on the stove top board, grasps it, wipes the surface of the board repeatedly, then moves the towel down and releases it into the brown receptacle below the board.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 120, "tasks": ["wipe tissue"], "length": 362, "global_instruction": "Wipe the dark wooden table surface using the beige napkin from the white plate", "scene_description": "A dark wooden table holds a white plate with a beige napkin, a black remote control left of the plate, and a beige table lamp behind the plate. A robotic arm is positioned to the right of the table, with its base on a platform with green lights.", "global_instruction_dense": "The right robotic arm reaches toward the beige napkin on the white plate, grasps it, lifts it, moves it to the table surface near the black remote, wipes the surface repeatedly, then moves the napkin back to the white plate and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 121, "tasks": ["wipe tissue"], "length": 366, "global_instruction": "Take a paper towel from the roll and wipe the kitchen sink faucet.", "scene_description": "A stainless steel kitchen sink with a chrome faucet sits below a window. A clear spray bottle is on the left counter, a roll of white paper towels, a printed mug, and dish soap are on the right counter, with a blue cloth in the sink. A right robotic arm is at the top right.", "global_instruction_dense": "The right robotic arm moves toward the white paper towel roll, grasps and tears off a paper towel sheet, moves the paper towel to the chrome faucet, wipes the faucet, then moves away from the sink area.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 122, "tasks": ["wipe tissue"], "length": 296, "global_instruction": "Wipe the white kitchen countertop using the paper towel placed on it.", "scene_description": "A white kitchen counter holds stacked white paper cups in a wooden holder on the left, an open stainless steel trash can, a dark blue coffee machine, a coffee pod rack, a white paper towel, and an embedded square trash opening, with cabinets in the right background and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the white paper towel on the counter, grasps it, repeatedly wipes the counter surface with the towel, then places the paper towel back onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 123, "tasks": ["wipe tissue"], "length": 310, "global_instruction": "Wipe the side edge of the kitchen counter using the loose white paper towel on the counter surface.", "scene_description": "A stainless steel sink is on a white kitchen counter, with a green-labeled dish soap bottle next to the faucet, a small silver shaker, stacks of white plates, a patterned green-and-white cup, a roll of white paper towels on a metal stand, and a loose white paper towel lying on the counter near the cup; dark brown cabinets are below the counter, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves down toward the loose white paper towel on the kitchen counter, grasps it, wipes the vertical side edge of the counter with the towel, then places the paper towel back onto the counter surface near the sink.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 124, "tasks": ["wipe tissue"], "length": 408, "global_instruction": "Wipe the kitchen sink faucet with a paper towel then place the paper towel on the counter.", "scene_description": "A stainless steel sink is set into a white kitchen counter, with a clear soap dispenser left of the chrome faucet, a blue sponge inside the sink, a white paper towel on the sink's right edge, a patterned cup behind the paper towel, a standing paper towel roll, and small kitchen appliances on a dark wooden cabinet in the background.", "global_instruction_dense": "The right robotic arm moves toward the paper towel on the sink edge, grasps it, repeatedly wipes the chrome faucet with the paper towel, then places the paper towel onto the adjacent white kitchen counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 125, "tasks": ["wipe tissue"], "length": 338, "global_instruction": "Wipe the interior of the white bowl using a white tissue, then place the used tissue on the counter.", "scene_description": "A white kitchen counter has a stainless steel sink at its center, a dark metallic coffee maker on the far left, a white empty bowl, an orange Sun Chips package, a white tissue next to the bowl, a white plastic fork inside the sink, an orange carrot stick, white plates, a yellow banana, a red apple, a blue snack packet, dish soap beside two faucets, and a stationary white robotic arm base on the right.", "global_instruction_dense": "The right robotic gripper moves downward to grasp a white tissue from the counter, lowers the tissue into the white bowl, wipes the bowl's interior with repeated circular motions, lifts the used tissue out of the bowl, places it on the counter beside the bowl, and releases the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 126, "tasks": ["wipe tissue"], "length": 222, "global_instruction": "Wipe the kitchen counter surface near the snack packages using a white tissue.", "scene_description": "A white kitchen counter has a left-side sink with cleaning spray bottles, a stack of white disposable plates, a blue bowl with colorful snacks and a white spoon next to a metal fork, assorted food items (tomato, banana, orange and blue snack packages, a plate with prepared food) on the right, and disposable cups at the far right, with a blue cord plugged into the wall above the counter.", "global_instruction_dense": "The right robotic gripper approaches the white tissue placed next to the snack packages on the kitchen counter, grasps it, lifts it to wipe the counter surface near the snack items, then lowers and releases the used tissue back onto the counter before moving away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 127, "tasks": ["wipe tissue"], "length": 234, "global_instruction": "Grasp the white napkin on the counter and wipe the surface near the fruit plate.", "scene_description": "A white kitchen counter holds a sink with blue cloth, clear green-capped bottle, spray bottle, stacked white napkins, patterned takeout cup, metal fork, blue bowl, plate with red apple and yellow fruit, and a white paper towel roll, with a robotic arm positioned on the right.", "global_instruction_dense": "The right robotic arm moves downward toward the white napkin next to the fruit plate, closes its gripper to grasp the napkin, moves the napkin over the counter near the plate to wipe the surface, then lifts the napkin away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 128, "tasks": ["wipe tissue"], "length": 206, "global_instruction": "Wipe the kitchen counter area under the paper cup with a paper towel, then return the cup to the cleaned spot.", "scene_description": "A stainless steel sink is at the left of a white kitchen countertop. On the counter, there is a green-capped soap bottle, blue sponge, small silver shaker, two stacked white tissue boxes, a white patterned paper cup, a blue bowl with a spoon inside, and a white paper towel roll, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left to grasp and lift the white paper cup, uses the paper towel on the counter to wipe the area previously under the cup, then moves the cup back to the cleaned counter surface and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 129, "tasks": ["wipe tissue"], "length": 377, "global_instruction": "Wipe the sauce stains on the kitchen counter using the paper, then dispose of the used paper in the trash bin.", "scene_description": "A white kitchen counter holds a blue bowl of colorful cereal, a black-and-white calibration board, a roll of white paper towels, a white bowl with leftover food, a sauce-stained white paper, a red-rimmed white mug, stacked white napkins, a clear plastic water bottle, and a small patterned paper plate. A gray trash bin sits under the counter, and a robotic arm is positioned at the right of the counter.", "global_instruction_dense": "The right robotic arm moves to grasp the sauce-stained paper on the counter, uses the paper to wipe the sauce stains off the counter surface, moves the used paper over the trash bin under the counter, releases the paper to drop it into the bin, then returns to its initial position near the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 130, "tasks": ["wipe tissue"], "length": 665, "global_instruction": "Wipe the yellow stains on the kitchen counter with a paper towel and dispose of the used paper towel in the trash bin.", "scene_description": "A white kitchen countertop holds a roll of white paper towels on a black stand, a black-and-white checkerboard calibration board, a blue bowl of colorful cereal, a small white bowl with brown residue, a clear water bottle, a white paper cup, two yellow stains, and a white paper towel near the stains; a trash bin sits under the counter, and a coffee machine is on the far right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white paper towel on the counter, grasps it, wipes the two yellow stains on the countertop with the towel, moves the used towel over the under-counter trash bin, releases the towel into the bin, then moves back upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 131, "tasks": ["wipe tissue"], "length": 607, "global_instruction": "Wipe the dark stain on the kitchen counter using the detached white paper towel.", "scene_description": "A white kitchen counter against gray tiled walls holds a clear plastic water bottle, white paper cup, stacked white napkins, blue cereal bowl, white sauce bowl, black-and-white checkered calibration board, white paper towel roll on a black stand, detached white paper towel, small patterned dish, printed white paper cup, and red-rimmed cup. A gray trash bin sits under the counter's right edge, and a robotic arm is at the counter's right side.", "global_instruction_dense": "The right robotic arm moves toward the detached white paper towel on the kitchen counter, grasps it, uses it to repeatedly wipe the dark counter stain, then places the used paper towel on the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 132, "tasks": ["wipe tissue"], "length": 305, "global_instruction": "Take a tissue from the tissue box, wipe the table surface, then place the tissue on the table.", "scene_description": "A white rectangular table holds a transparent plastic container with a black pen and blue marker inside, a white tissue box, a beige open container, a small yellow block, a patterned paper bowl with dark small items, a plastic spoon, and a small green potted plant. A smaller white high table with a small purple potted plant sits to the left, with a dark cushioned sofa and large windows in the background.", "global_instruction_dense": "The right robotic gripper moves to the white tissue box on the table, grasps and pulls out a tissue, wipes the table surface with the tissue, then places the used tissue on the right side of the table and lifts away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 133, "tasks": ["wipe tissue"], "length": 264, "global_instruction": "Use the flat white paper towel on the kitchen counter to wipe the round stainless steel container.", "scene_description": "A white paper towel roll, wooden box with colorful blocks, round stainless steel container, and flat white paper towel are placed on a white kitchen counter. A sink with a metal faucet is at the right end of the counter, a silver trash bin sits on the floor left of the counter, and a robotic arm is positioned above the right side of the counter against a gray tiled backsplash.", "global_instruction_dense": "The right robotic gripper moves down to grasp the flat white paper towel on the counter, lifts it, moves it to the round stainless steel container, wipes the container's surface repeatedly, then places the used paper towel back onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 134, "tasks": ["wipe tissue"], "length": 519, "global_instruction": "Wipe the kitchen counter with a paper towel then remove the small white container from the counter.", "scene_description": "A white kitchen counter holds a small white container with a dark purple lid, a white paper towel roll, a red and white cup, and a coffee machine with a screen on the left, with a robotic arm positioned on the right side.", "global_instruction_dense": "The right robotic arm first grasps a paper towel, repeatedly wipes the kitchen counter surface, then moves to grasp the small white container with dark lid, lifts it, and moves it away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 135, "tasks": ["wipe tissue"], "length": 258, "global_instruction": "Wipe the kitchen counter surface using a paper towel from the countertop paper towel roll.", "scene_description": "A silver and black Keurig coffee machine, a K-cup rack, a white paper towel roll, and multiple cups are arranged on a light kitchen counter, with a Franka Emika robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The right robotic arm releases a small object onto the counter, moves to the white paper towel roll, grasps and tears a paper towel, then wipes the kitchen counter surface with the paper towel.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 136, "tasks": ["wipe tissue"], "length": 239, "global_instruction": "Wipe the white countertop surface using a white paper towel", "scene_description": "A white countertop holds an open light brown box of small colorful items on the left, a white paper dispenser, grey square box, white funnel, patterned cup, red long tool, and stacked paper cups at the back against a grey tiled wall with electrical sockets.", "global_instruction_dense": "The right robotic gripper grasps a white paper towel, moves it across multiple areas of the white countertop to wipe the surface, then lifts and releases the used paper towel back onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 137, "tasks": ["wipe tissue"], "length": 355, "global_instruction": "Wipe the kitchen counter surface near the Keurig coffee machine using a paper towel.", "scene_description": "A white kitchen counter holds a stack of Keurig coffee pods on the left, a silver and black Keurig coffee machine, a blue and white patterned small dish, a stainless steel trash container, and several bottles and cups on the right, with grey tiled walls in the background.", "global_instruction_dense": "The right robotic gripper enters the frame holding a white paper towel, lowers it to the kitchen counter next to the blue and white patterned dish, wipes the counter surface in repeated motions, then releases the paper towel and moves away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 138, "tasks": ["wipe tissue"], "length": 214, "global_instruction": "Wipe the white kitchen counter using the white paper towel.", "scene_description": "A black and silver Keurig coffee machine sits on a white kitchen counter. Stacked K-cup coffee pods are to the left of the machine, a white paper towel is to the right of the machine, with a silver storage container, plastic cups, a water bottle, and a laptop near a sink faucet in the background.", "global_instruction_dense": "The right robotic arm moves toward the white paper towel on the kitchen counter, grasps the paper towel, moves it back and forth across the counter surface to wipe it, then releases the paper towel and lifts away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 139, "tasks": ["wipe tissue"], "length": 314, "global_instruction": "Wipe the surface of the white kitchen counter using a white paper napkin.", "scene_description": "A white kitchen counter holds a Keurig coffee machine at its center, a rotating rack of coffee pods to the left of the machine, two white disposable cups to the right of the machine, a stack of white paper napkins beside the cups, and other kitchen items including a stainless steel container, kettle, and sink in the background.", "global_instruction_dense": "The right robotic gripper moves toward the stack of white paper napkins on the counter, grasps one napkin, lifts it, and repeatedly moves the napkin across the counter surface to wipe the area.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 140, "tasks": ["wipe tissue"], "length": 384, "global_instruction": "Wipe the drip tray of the Keurig coffee maker with a paper towel, then place the used towel on the counter.", "scene_description": "A white kitchen counter holds a stacked rack of Starbucks coffee pods on the far left, a silver and black Keurig coffee maker at the center, a clear water bottle, a white patterned disposable cup, and dishware near the sink at the right, with a robotic arm at the far right edge.", "global_instruction_dense": "The right robotic arm grasps a white paper towel, moves it to the Keurig coffee maker's drip tray, wipes the tray repeatedly, then moves the paper towel to the right side of the counter and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 141, "tasks": ["wipe tissue"], "length": 181, "global_instruction": "Wipe the white kitchen countertop using the napkin under the small white cup.", "scene_description": "A white kitchen counter holds a black-netted coffee pod stack on the left, a silver Keurig coffee machine with a white paper cup under its spout, a clear water bottle next to the machine, a small white cup with dark liquid on a white napkin to the bottle's right, and dishes plus a sink in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, grasps the small white cup on the napkin and moves it aside, then uses the napkin to repeatedly wipe the countertop surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 142, "tasks": ["wipe tissue"], "length": 236, "global_instruction": "Wipe the yellow liquid stains on the kitchen countertop using the white tissue.", "scene_description": "A silver Keurig coffee machine with a white paper cup under its spout sits on a white kitchen countertop. A stack of Starbucks coffee pods is to the left of the machine, a clear water bottle is next to the machine, two yellow liquid stains and a white tissue are on the counter to the right of the machine, with kitchen dishes and a sink in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white tissue on the kitchen counter, grasps it, and repeatedly wipes the yellow liquid stains on the countertop to clean them.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 143, "tasks": ["wipe tissue"], "length": 267, "global_instruction": "Wipe the liquid stain on the kitchen counter using the crumpled white tissue.", "scene_description": "A stack of Starbucks coffee K-cups secured with black straps sits on the left of a white kitchen counter, next to a silver Keurig coffee machine with a white patterned paper cup under its spout. To the right of the machine are a clear plastic water bottle, a crumpled stained white tissue, with dishware, a sink, and faucet in the background.", "global_instruction_dense": "The right robotic arm moves toward the crumpled white tissue on the counter, grasps it, repeatedly wipes the stained spot on the counter, then releases the tissue and lifts away from the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 144, "tasks": ["wipe tissue"], "length": 248, "global_instruction": "Wipe the white kitchen countertop using the crumpled white tissue.", "scene_description": "A white kitchen countertop holds a stack of coffee K-cups in a black net holder on the left, a silver Keurig coffee machine with a white paper cup under its spout, a clear plastic water bottle, a crumpled white tissue, a purple patterned paper plate, and kitchen items including dishes, a sink with faucet, and a paper towel roll toward the right.", "global_instruction_dense": "The right robotic arm moves toward the crumpled white tissue on the countertop, grasps it, moves the tissue across the counter surface to wipe it multiple times, then lifts the tissue away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 145, "tasks": ["wipe tissue"], "length": 219, "global_instruction": "Wipe the dark tabletop using the white paper napkin.", "scene_description": "A dark table sits beside a window overlooking a yard, holding a green-capped clear bottle, purple lid container, green lid container, tissue pack, yellow cartoon-faced box, playing card, plastic storage container, and a white paper napkin. A dark chair is next to the table, and a robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm grasps the white paper napkin on the dark table, moves the napkin across the table surface to wipe it, then places the napkin back on the table and lifts upward to return to its initial position.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 146, "tasks": ["wipe tissue"], "length": 270, "global_instruction": "Wipe the top surface of the green-lidded round container using a paper napkin from the table.", "scene_description": "A black table is next to a large window, with a black chair to its left. On the table: a flat white paper napkin, light green small bottle, purple-lidded round container, green-lidded round container, small card stack, clear plastic box, dark tape roll, yellow cartoon-faced box, and a white robotic arm on the right, with a yard visible through the window.", "global_instruction_dense": "The right robotic gripper moves to grasp the white paper napkin on the table, lifts it, moves it to the green-lidded round container, wipes the container's top surface with the napkin, then lifts the napkin and moves it toward the table center.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 147, "tasks": ["wipe tissue"], "length": 540, "global_instruction": "Wipe the dark kitchen counter using a paper towel.", "scene_description": "A dark kitchen counter has a full white paper towel roll in the foreground, a black toaster, a silver coffee maker near a right-side window, a stone tile backsplash with a white electrical outlet on the left, and a white robotic arm positioned near the top right window.", "global_instruction_dense": "The right robotic arm moves downward from near the window, grasps a paper towel on the counter, wipes the counter surface with repeated wiping motions, then lifts the paper towel away from the counter when finished.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 148, "tasks": ["wipe tissue"], "length": 407, "global_instruction": "Wipe the black tabletop using white paper napkins.", "scene_description": "A black table holds an orange cartoon-faced drink carton, green-capped bottled beverages, a stack of playing cards, a red snack bowl, two loose white paper napkins, a stack of folded white napkins, small food containers, and a Franka robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white paper napkin on the black table, uses the napkin to wipe the table surface, moves the napkin to a new position on the table, wipes a section of the table, then releases the napkin onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 149, "tasks": ["wipe tissue"], "length": 394, "global_instruction": "Wipe the black table surface with the white napkin, then place the napkin on the left side of the table.", "scene_description": "A black table holds an orange cartoon-faced drink carrier with green-capped bottles on its left side, a stack of white napkins at the back, a red snack bowl, a small orange container, playing cards, a green circular lid, and a robotic gripper on the right, with a single white napkin at the table center.", "global_instruction_dense": "The right robotic gripper moves to the white napkin at the table center, grasps it, repeatedly wipes the black table surface with the napkin, lifts the napkin, moves it to the left side of the table, releases it, and moves upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 150, "tasks": ["wipe tissue"], "length": 537, "global_instruction": "Wipe the orange sauce on the white napkin then place the used napkin onto the nearby napkin stack.", "scene_description": "A black tabletop holds a white napkin with an orange sauce spot at its center, a clear plastic food container behind the napkin, a small black-and-white bowl, a green plastic spoon, a red bowl of food, a yellow food packet, a gray cup, stacked white napkins near the window, an orange cereal box with a cartoon face on the left, plus small items (pencil, blue packet, green lid, cards, cans) on the left side of the table, with a Franka robotic arm positioned on the right side of the table.", "global_instruction_dense": "The Right robotic arm moves down to the white napkin with orange sauce on the black table, repeatedly wipes the sauce on the napkin, grasps the napkin, lifts it, moves it to the stacked white napkins next to the clear plastic food container, releases the napkin onto the stack, then moves upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 151, "tasks": ["wipe tissue"], "length": 326, "global_instruction": "Wipe the surface of the glass coffee table using the white napkin", "scene_description": "A glass coffee table holds four green-capped bottles, a red bowl, a green plate of white snacks, a black remote control, and a white napkin. A lit desk lamp, black chair, window, and trash bin are in the background.", "global_instruction_dense": "The right robotic arm moves to grasp the white napkin on the glass coffee table, drags the napkin across the table surface repeatedly to wipe it, then lifts the napkin and moves away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 152, "tasks": ["wipe tissue"], "length": 473, "global_instruction": "Wipe the kitchen counter surface using a white paper towel.", "scene_description": "A dark polished marble kitchen counter holds a chrome toaster with a silver metal bowl on top, a silver-and-black coffee machine to the right of the toaster, a tall black coffee maker next to the coffee machine, a clear plastic container with a red lid beside the coffee maker, a wooden knife block with knives near the back window, and a white Franka robotic arm positioned at the right edge of the counter.", "global_instruction_dense": "The left robotic arm extends toward the kitchen counter, grasps a white paper towel, and moves the paper towel in repeated side-to-side and circular motions to wipe the counter surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 153, "tasks": ["wipe tissue"], "length": 532, "global_instruction": "Wipe the purple plate on the table using a tissue taken from the tissue box.", "scene_description": "A black table holds a trash bin with a white plastic liner at the back right, a grey patterned tissue box, a purple plate, a wooden spoon on a white napkin, a clear container of light grains, an empty clear container, a dark transparent cup, and a white paper cup, with a robotic arm above the trash bin initially.", "global_instruction_dense": "The right robotic arm moves to the grey patterned tissue box, grasps and extracts a white tissue, moves the tissue to the purple plate on the table, wipes the plate's surface repeatedly, then lifts the used tissue away from the plate.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 154, "tasks": ["wipe tissue"], "length": 636, "global_instruction": "Grasp a tissue from the tissue box, wipe the purple plate, then dispose of the used tissue in the trash bin.", "scene_description": "A black tabletop holds a wooden spoon on a white napkin, an empty clear square plastic container, a square plastic container with light-colored snack, a dark translucent cup, a light paper cup, a dark tissue box with a protruding white tissue, a purple plate, and a gray-lined trash bin at the table's far end; a framed artwork hangs on the brown wall above the table, and the robotic arm is initially out of frame to the right.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves to the dark tissue box, grasps the protruding white tissue, pulls it from the box, moves the tissue to the purple plate, wipes the plate's surface repeatedly, lifts the used tissue, moves it over the gray-lined trash bin, releases the tissue into the bin, then moves away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 155, "tasks": ["wipe tissue"], "length": 191, "global_instruction": "Wipe the black table surface with the white paper napkin then place the napkin into the clear round plastic container.", "scene_description": "A black table holds a light-colored cup, a grey block with two black tools, a clear round plastic container, a small metal dish, a square clear container of granular food with a spoon, a white paper napkin, and a purple plate with small white and orange pieces. A black trash bin with white liner sits behind the table, and a robotic arm base with green lights is on the right side of the scene.", "global_instruction_dense": "The left robotic arm moves down from its initial position toward the white paper napkin on the black table, grasps the napkin, wipes the table surface with it, moves the used napkin over the clear round plastic container, and releases the napkin into the container.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 156, "tasks": ["wipe tissue"], "length": 496, "global_instruction": "Grab a tissue from the tissue box, wipe the window glass, then discard the used tissue.", "scene_description": "A white-trimmed window, a wooden windowsill holding a small black object, a bedside table with a white-shaded table lamp and a white tissue box are next to a bed with plaid bedding, and a white robotic arm is positioned near the bed.", "global_instruction_dense": "The right robotic arm moves toward the tissue box on the bedside table, grasps a tissue, lifts it, moves to the window glass, wipes the glass repeatedly with the tissue, then moves down to discard the used tissue onto the bedside table before returning to its initial position near the bed.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 157, "tasks": ["wipe tissue"], "length": 551, "global_instruction": "Wipe the wooden countertop surface using the light blue paper towel.", "scene_description": "A wooden countertop holds a black-lidded seasoning jar on the left, three attached metal measuring cups (one with red contents) at the center, a clear empty glass on the right, a light blue paper towel behind the glass, a brown paper bag and clear plastic container at the far end of the counter, with a green glowing machine on the bottom right edge.", "global_instruction_dense": "The right robotic arm descends toward the counter, grasps the light blue paper towel, moves the towel across the counter surface to wipe it, then lifts the towel and moves away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 158, "tasks": ["wipe tissue"], "length": 489, "global_instruction": "Place a small object into the clear glass, then wipe the wooden table with the white paper towel.", "scene_description": "A wooden table holds a black-lidded spice jar, three metal measuring cups (one with red contents), a metal clip, a large clear drinking glass, a white paper towel, a clear plastic measuring jug, and a brown paper bag with red markings; a green glowing device sits at the table's right edge, with a laundry basket and light-colored wall in the background.", "global_instruction_dense": "The right robotic arm first descends to grasp a small object from the table, moves to the clear glass and drops the object inside, then grasps the white paper towel, wipes the wooden table surface repeatedly, and finally lifts the towel and moves out of view.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 159, "tasks": ["wipe tissue"], "length": 290, "global_instruction": "Tear a paper towel from the roll and use it to wipe the kitchen counter surface.", "scene_description": "A white tile-topped kitchen island has a black laptop on its left side and a white paper towel roll at its center. A white robotic arm is positioned at the top right of the frame, and the background has a white microwave, white refrigerator, white stove, and green-and-white fabric bags on the floor near the stove.", "global_instruction_dense": "The right robotic arm moves toward the paper towel roll on the kitchen counter, grasps the edge of a paper towel, pulls to tear a sheet free, wipes the counter surface with the paper towel in multiple back-and-forth motions, then moves the used paper towel to the left side of the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 160, "tasks": ["wipe tissue"], "length": 277, "global_instruction": "Tear a paper towel and use it to wipe the glass coffee pot lid.", "scene_description": "A white tiled kitchen counter holds a black laptop, white power strip, black power adapter, loose paper towels, a standing white paper towel roll, and a glass coffee pot. A left Franka Emika robotic arm is positioned near the coffee pot, with a white microwave, white stove, and refrigerator in the background, plus a backpack on the right side of the scene.", "global_instruction_dense": "The left Franka Emika robotic arm moves from near the coffee pot to the left side of the counter, grasps and tears off a paper towel sheet, carries the sheet over to the glass coffee pot, and uses the paper towel to wipe the coffee pot's lid.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 161, "tasks": ["wipe tissue"], "length": 143, "global_instruction": "Wipe the tiled kitchen counter surface using the white paper napkin", "scene_description": "A tiled white kitchen counter holds a black laptop on its left side, a transparent glass coffee pot on its center-right, and a white paper napkin left of the coffee pot. A white microwave sits on a small background table, and a right Franka Emika robotic arm is positioned above the counter near the coffee pot initially.", "global_instruction_dense": "The right robotic arm moves left toward the white paper napkin on the tiled kitchen counter, grasps and lifts the napkin, wipes the counter surface with it, then places the napkin near the glass coffee pot on the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 162, "tasks": ["wipe tissue"], "length": 468, "global_instruction": "Take a tissue from the tissue box and wipe the white kitchen counter with it.", "scene_description": "A white tissue box, two stacks of patterned paper cups, two small patterned ceramic cups, and a white plastic spoon are placed on a white kitchen counter against grey tiled walls, with a dark hallway in the background.", "global_instruction_dense": "The right robotic arm moves toward the tissue box on the left of the counter, grasps a white tissue, pulls it out of the box, moves it over the countertop, and wipes the counter surface with the tissue repeatedly.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 163, "tasks": ["wipe tissue"], "length": 422, "global_instruction": "Wipe the interior of the empty yellow bowl with a white paper napkin.", "scene_description": "A round dark wooden table is next to a window. On the table: an empty off-white open box is on the left, a blue bowl filled with multicolored small beads is at the center, an empty yellow bowl is to the right of the blue bowl, a white patterned cup, small green and red blocks, a glass jar, a small blue dish, and white paper napkins are also on the table, with a potted plant on the windowsill. A right robotic arm is near the right edge of the table.", "global_instruction_dense": "The right robotic arm first grasps the empty yellow bowl, adjusts its position closer to the blue bead bowl and releases it, then grasps a white paper napkin, wipes the inside of the yellow bowl repeatedly, then places the napkin back on the table and retracts.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 164, "tasks": ["wipe tissue"], "length": 471, "global_instruction": "Wipe the section of the kitchen countertop next to the red-handled white mug using a paper tissue.", "scene_description": "A white kitchen countertop with a central stainless steel sink, a white paper towel holder to the left of the sink, two chrome faucets above the sink, a clear hand soap bottle near the faucets, a white mug with a red handle to the right of the sink, and a robotic gripper positioned above the right side of the counter.", "global_instruction_dense": "The right robotic gripper retrieves a white paper tissue, moves it to the countertop beside the red-handled white mug, wipes the counter surface in repeated back-and-forth motions, then lifts the tissue away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 165, "tasks": ["wipe tissue"], "length": 392, "global_instruction": "Wipe the area around the front disposal opening with a paper towel then dispose of the paper towel in the rear disposal opening.", "scene_description": "A white countertop holds a wooden box of small labeled packets, a silver metal napkin dispenser, a large clear glass jar filled with blue packets, a small white paper bowl, a purple and white geometric patterned ring, a crumpled white paper towel, and two square disposal openings. A robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm lowers to the countertop, grasps the white paper towel near the front disposal opening, wipes the surface around the front opening repeatedly, moves the paper towel to the rear disposal opening, and releases it into the opening.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 166, "tasks": ["wipe tissue"], "length": 358, "global_instruction": "Wipe the scattered colorful particles on the round wooden table using the white napkin.", "scene_description": "A round dark wooden table holds a white tray with a patterned utensil container, a yellow bowl with a small jar, a blue bowl with a spoon, small capped bottles, a white napkin, and scattered colorful particles. A robotic arm is positioned to the right of the table, with dark stools around the table and a window in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the white napkin on the round wooden table, repeatedly wipes the scattered colorful particles on the table surface with the napkin, then moves the napkin to the side near the yellow bowl.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 167, "tasks": ["wipe tissue"], "length": 372, "global_instruction": "Wipe the scattered colorful debris on the wooden table using the white paper napkin", "scene_description": "A dark brown round wooden table holds a beige tray with a black-and-white patterned utensil holder, a yellow bowl with a small capped bottle, a blue bowl, two small condiment bottles with orange and green caps, a white paper napkin, and scattered colorful small debris. A white robotic arm base is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves downward to grasp the white paper napkin on the table, repeatedly wipes the scattered colorful debris across the table surface to gather it, then releases the napkin back onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 168, "tasks": ["wipe tissue"], "length": 456, "global_instruction": "Wipe the black remote control on the table using a white tissue from the tissue box.", "scene_description": "A light wooden table stands against a white wall, with a stacked colorful toy, black headphones, a white stuffed rabbit, a black remote on white paper, and a tissue box with a protruding white tissue placed on its surface. An open drawer with orange items sits below the table, a white board leans against the left wall, a window with blinds is on the right, and a right robotic arm is positioned at the top right.", "global_instruction_dense": "The right robotic gripper moves to the tissue box, grasps a white tissue, moves the tissue over the black remote on the table, wipes the remote with the tissue repeatedly, then drops the used tissue onto the white stuffed toy on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 169, "tasks": ["wipe tissue"], "length": 458, "global_instruction": "Wipe the kitchen counter surface using a paper towel sheet.", "scene_description": "A kitchen counter holds a light blue cup, a black coffee maker, and a metal dish rack with a white paper towel roll near a window with a green potted plant in a white pot; open white upper cabinets are above the counter, and a right robotic arm is positioned near the right-side stove.", "global_instruction_dense": "The right robotic arm grasps a paper towel sheet from the roll in the dish rack, pulls the sheet off the roll, lowers it onto the kitchen counter, and moves it repeatedly across the counter to wipe the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 170, "tasks": ["wipe tissue"], "length": 467, "global_instruction": "Use the white paper napkin to wipe the kitchen counter surface", "scene_description": "A white kitchen counter has a black dish rack near the left windowsill (with a potted green plant on the sill), a white paper napkin next to the dish rack, a black coffee maker, a light blue cup near the stove, open white upper cabinets with dishes inside, and a robotic arm on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white paper napkin next to the dish rack, grasps it, lifts it, then moves the napkin repeatedly across the kitchen counter to wipe the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 171, "tasks": ["wipe tissue"], "length": 366, "global_instruction": "Wipe the small white dish inside the sink using a paper towel, then place the used paper towel on the right countertop.", "scene_description": "A white kitchen sink sits under a window, with a roll of white paper towels positioned to its left, a dish rack holding dishes on the countertop to its right, and a small white dish, light blue cup, and metal spoon inside the sink; a light green soap dispenser and light blue cup are placed on the windowsill above the sink.", "global_instruction_dense": "The right robotic gripper grasps a paper towel sheet from the right countertop, moves the paper towel to the small white dish inside the sink, wipes the dish's surface repeatedly, then lifts the used paper towel and places it on the right countertop near the dish rack.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 172, "tasks": ["wipe tissue"], "length": 473, "global_instruction": "Extract a tissue from the tissue box and wipe the white ceramic mug with it.", "scene_description": "A wooden table holds a yellow plastic cup, orange plastic cup, white ceramic mug on a saucer, clear water bottle, tissue box, and small items. A white open storage cabinet with dishes is left of the table, and a robotic arm is above the table's right side.", "global_instruction_dense": "The right robotic gripper moves to the tissue box on the wooden table, pulls out a tissue, moves the tissue to the white ceramic mug, wipes the mug with the tissue, then releases the tissue onto the mug.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 173, "tasks": ["wipe tissue"], "length": 245, "global_instruction": "Wipe the wooden table surface with a white napkin then place the used napkin next to the teal cup holder.", "scene_description": "A wooden table holds a roll of white paper towels, teal cups in a metal holder, a light pink tall cup, white napkins, and silverware. A white robotic arm is positioned to the right of the table, with a kitchen area (white cabinets, white refrigerator, left-side window, wooden chair) in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white napkins on the table, grasps one napkin, uses it to wipe the table surface repeatedly, then lifts the napkin, moves it left toward the teal cup holder, and places the napkin next to the holder.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 174, "tasks": ["wipe tissue"], "length": 199, "global_instruction": "Wipe the white tabletop using a paper towel pulled from the paper towel roll.", "scene_description": "A white table holds two orange snack packets near the window, four clear plastic water bottles to the right of the snacks, and a white paper towel roll to the right of the bottles, with a robotic arm positioned to the right of the table and sheer curtains over windows behind the table.", "global_instruction_dense": "The right robotic arm moves toward the paper towel roll, grasps and pulls a piece of paper towel, moves the paper towel across the white table surface to wipe it, then lifts the arm away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 175, "tasks": ["wipe tissue"], "length": 286, "global_instruction": "Wipe the top surface of the black countertop oven using the paper towel placed on it.", "scene_description": "A white table holds a large white paper towel roll (left), a small black toy car, a light green cloth, a small clear water bottle, and a black countertop oven. A white paper towel sheet rests on the oven top, with another clear water bottle on the oven's right edge. A dark gray couch with cushions sits behind the table, in front of white sheer curtains.", "global_instruction_dense": "The left robotic gripper moves toward the paper towel on top of the black countertop oven, grasps the paper towel, repeatedly wipes the oven's top surface, then releases the paper towel and lifts away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 176, "tasks": ["wipe tissue"], "length": 104, "global_instruction": "Pick up the white paper towel roll and dip its end into the small stainless steel pot on the counter.", "scene_description": "A white kitchen counter holds a white paper towel roll, small stainless steel pot, blue patterned decorative plate, black coffee maker with a green top, metal utensil holder, black weighing scale, small metal utensils, and black-lidded stainless steel canister. A robotic arm is positioned to the right of the counter, with a microwave mounted in upper white cabinets above the counter.", "global_instruction_dense": "The right robotic arm moves left toward the white paper towel roll on the kitchen counter, grasps it with its gripper, lifts the roll, moves it over the small stainless steel pot, dips the end of the paper towel roll into the pot, and holds it in position.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 177, "tasks": ["wipe tissue"], "length": 311, "global_instruction": "Wipe the surface of the brown padded envelope using the white napkins on the table", "scene_description": "A white oval conference table holds a white lidded cup, a blue book with orange and yellow accents, a small disposable paper cup, a clear spray bottle, a white lidded plastic container, a brown padded envelope wrapped in gold tape, white cloth napkins, a black monitor, a black round wired device, and a power strip. Three grey office chairs are behind the table against a dark grey wall, a wooden glass-paneled door is on the left, and a white robotic arm is at the top left of the frame.", "global_instruction_dense": "The left robotic arm moves downward toward the white napkins on the left of the table, grasps a napkin, repeatedly wipes the surface of the brown padded envelope, then lifts the napkin upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 178, "tasks": ["wipe tissue"], "length": 251, "global_instruction": "Wipe the cover of the blue hardcover book on the table using a white paper napkin.", "scene_description": "A white robotic arm is positioned above a white conference table. On the table, there is a blue hardcover book with an orange stripe, a brown shipping package, two patterned disposable cups, a purple spray bottle, a clear pump hand sanitizer, a stack of white paper napkins, a white rectangular tray, a black conference speaker, and a small black monitor. Three grey office chairs are against the grey wall in the background, with a wooden door on the far left.", "global_instruction_dense": "The left robotic arm moves toward the stack of white paper napkins on the table, grasps a single napkin, lifts it, presses it against the cover of the blue book, wipes the book cover in repeated circular motions, then moves the used napkin to the table surface and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 179, "tasks": ["wipe tissue"], "length": 237, "global_instruction": "Wipe the cover of the blue book using a paper towel.", "scene_description": "A white conference table holds a purple spray bottle, blue book with an orange stripe, clear hand sanitizer, brown package, white opaque cup, white tray, small patterned cup, and conference electronics. Three grey office chairs are behind the table, a white robotic arm is at the upper left, and a wooden door is at the far left.", "global_instruction_dense": "The left robotic arm moves downward to grasp a paper towel from the table, then repeatedly wipes the cover of the blue book in back-and-forth motions.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 180, "tasks": ["wipe tissue"], "length": 291, "global_instruction": "Wipe the cover of the blue book using a tissue from the tissue box.", "scene_description": "A white conference table holds a white tissue box, blue book with orange stripe, light grey patterned mug, brown sealed package, two spray bottles, and a white rectangular container. Three grey mesh office chairs are against the grey wall behind the table, a white robotic arm is at the top left, and the table's right side has a black stand, round black speaker, and connected cables, with papers and a clipboard on the floor near the left door.", "global_instruction_dense": "The left robotic arm reaches toward the white tissue box, grasps a tissue, moves to the blue book, wipes the book's cover repeatedly, then drops the used tissue on the table next to the book.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 181, "tasks": ["wipe tissue"], "length": 284, "global_instruction": "Pull a tissue from the tissue box, wipe the blue textbook surface, then place the tissue on the table.", "scene_description": "A white conference table holds a blue textbook, brown cardboard parcel, white ceramic mug, purple spray bottle, grey tissue box, clear small bottle, small paper cup, and conference electronics on the right side. A white robotic arm is positioned at the left of the table, with three grey mesh office chairs against the grey back wall.", "global_instruction_dense": "The left robotic arm moves toward the grey tissue box on the table, grasps and extracts a tissue, moves the tissue over the blue textbook to wipe its surface, then places the used tissue down on the left side of the table and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 182, "tasks": ["wipe tissue"], "length": 243, "global_instruction": "Wipe the surface of the blue Artificial Intelligence textbook using a white paper tissue.", "scene_description": "A white conference table holds a blue-covered Artificial Intelligence textbook, brown padded shipping envelope, green Starbucks cup with white lid, purple spray bottle, yellow cylindrical object, small patterned paper cup, hand sanitizer bottle, grey tissue box, white triangular wedge, and black conference phone on its right side. Three grey mesh office chairs are against the grey wall behind the table, a wooden door is on the far left, and a white robotic arm is positioned at the upper left above the table.", "global_instruction_dense": "The left robotic arm lowers to grasp a white paper tissue from the table, moves the tissue over the blue Artificial Intelligence textbook, repeatedly wipes the textbook's surface in back-and-forth motions, then lifts the tissue away from the textbook.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 183, "tasks": ["wipe tissue"], "length": 310, "global_instruction": "Wipe the white conference table surface using a white tissue.", "scene_description": "A white conference table holds a blue book with orange trim, a brown sealed package, a plain white paper cup to the right of the package, a white plastic tray, a tissue box, a small spray bottle, a patterned paper cup at the back of the table, and a black circular device with cables on the table's right side. A white robotic arm is positioned above the left side of the table, with office chairs against a grey wall in the background.", "global_instruction_dense": "The left robotic arm moves downward to grasp a white tissue, repeatedly wipes the section of the white table adjacent to the brown package, lifts the used tissue, moves it to the left side of the table near the tissue box, and releases the tissue onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 184, "tasks": ["wipe tissue"], "length": 305, "global_instruction": "Wipe the paper sheets on the table using a tissue extracted from the tabletop tissue box.", "scene_description": "A white conference table holds a spray bottle, metal tissue box, white plastic container, stacked paper notebooks, brown sealed package, patterned white paper cup, and conference telephone equipment on the right. Three office chairs are behind the table, and a white robotic arm is positioned in the upper left above the table.", "global_instruction_dense": "The left robotic arm moves down to the tissue box on the left side of the table, grasps and extracts a tissue from the box, moves the tissue over the stacked paper sheets on the table, wipes the paper surface repeatedly, then moves the used tissue back to the tissue box area and releases it onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 185, "tasks": ["wipe tissue"], "length": 284, "global_instruction": "Wipe the white table surface using a tissue from the tissue box.", "scene_description": "A white conference table holds a tissue box, purple spray bottle, red pen, brown cardboard package, white papers, small cup, yellow cylinder, monitor, conference phone, and power strip. A white robotic arm is at the top left, with three office chairs behind the table against a gray wall.", "global_instruction_dense": "The left robotic arm moves to the tissue box, extracts a tissue, moves to the table area near the brown package, wipes the table surface, then moves back and discards the used tissue next to the tissue box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 186, "tasks": ["wipe tissue"], "length": 276, "global_instruction": "Wipe the white papers on the table using a tissue", "scene_description": "A white table holds a brown sealed package, red pen, stacked white paper sheets, metallic tissue box, small purple bottle, yellow cylinder in a clear tray, small white cup, and black electronic accessories (mouse, cables, monitor) on the right; a white robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the metallic tissue box on the table, grasps a tissue, moves the tissue to the white papers on the table, wipes the surface of the papers multiple times, then lifts the tissue and places it back near the tissue box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 187, "tasks": ["wipe tissue"], "length": 308, "global_instruction": "Wipe the surface of the papers on the table using a tissue pulled from the tissue box.", "scene_description": "A white conference table holds a brown taped package, red striped pencil, white papers, transparent container with a yellow sponge, small blue bottle, paper cup, and tissue box on its left side, plus a mouse, monitor, and electronic devices on its right side. Three office chairs are against the grey wall, a door with a whiteboard is at the far left, and a white robotic arm is positioned at the top left initially.", "global_instruction_dense": "The left robotic arm moves toward the tissue box, pulls a tissue out of the box, moves the tissue to the white papers on the table, wipes the paper surface repeatedly, then places the used tissue next to the tissue box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 188, "tasks": ["wipe tissue"], "length": 228, "global_instruction": "Wipe the conference table surface with a white tissue.", "scene_description": "A white conference table holds a brown sealed package, a blue-orange textbook, a transparent tissue box, small sanitizer bottles, a yellow sponge in a plastic container, a white tablet, a black conference phone, and monitor peripherals. A white robotic arm is at the upper left of the table, with three gray office chairs against a dark gray wall behind the table.", "global_instruction_dense": "The left robotic arm moves down to grasp a white tissue from the table, repeatedly wipes the table surface near the textbook and brown package, then lifts the tissue away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 189, "tasks": ["wipe tissue"], "length": 264, "global_instruction": "Wipe the patterned paper plate on the conference table using a tissue from the silver tissue box.", "scene_description": "A long white conference table holds a silver tissue box, assorted colored blocks (blue, red, yellow, green), a beige water bottle, a black-and-white patterned paper plate, paper cups, a wooden shape sorter box, an orange snack packet, a black YETI tumbler, a spray bottle, stacked boxes, and electronic devices. A white robotic arm is positioned at the left of the table, with office chairs, a wall-mounted whiteboard, and a wall-mounted TV in the background.", "global_instruction_dense": "The left robotic gripper moves toward the silver tissue box, grasps and extracts a tissue, moves the tissue to the patterned paper plate, wipes the plate's surface, then places the used tissue on the table next to the plate.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 190, "tasks": ["wipe tissue"], "length": 307, "global_instruction": "Wipe the table surface near the paper cup using a tissue.", "scene_description": "A long white table holds a gray tissue box, beige water bottle, colorful blocks, wooden shape-sorting box, paper cup, blue spray bottle, orange snack packet, and black tumbler, with a robotic arm at the left side of the frame.", "global_instruction_dense": "The left robotic arm moves to the gray tissue box, grasps and pulls out a tissue, moves to the area next to the paper cup, wipes the table surface repeatedly with the tissue, then moves the used tissue away from the wiping area.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 191, "tasks": ["wipe tissue"], "length": 303, "global_instruction": "Wipe the table surface near the patterned plate using a tissue", "scene_description": "A long white conference table holds colorful blocks (red, yellow, blue, green), a beige wooden bottle, a wooden shape-sorting box, a patterned plate with a yellow block, a gray tissue box, a blue spray bottle, two patterned paper cups, a black tumbler, and stacked books on the right. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves downward to grasp a tissue from the left edge of the table, moves the tissue to the area near the patterned plate to wipe the table surface, then lifts the tissue and moves upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 192, "tasks": ["wipe tissue"], "length": 238, "global_instruction": "Extract a tissue from the gray tissue box and wipe the white table surface.", "scene_description": "A long white conference table holds a gray tissue box, blue spray bottle, patterned paper plate, wooden shape sorter, beige water bottle, box of colorful blocks, scattered red and yellow blocks, two patterned white paper cups, and a dark YETI tumbler. A white robotic arm is positioned at the left of the table, with office chairs, a backpack, and a wall whiteboard in the background.", "global_instruction_dense": "The left robotic arm moves toward the gray tissue box on the table, grasps and pulls out a white tissue, lowers the tissue to wipe the table surface, then lifts the used tissue and moves it away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 193, "tasks": ["wipe tissue"], "length": 315, "global_instruction": "Wipe the beige water bottle using a white tissue.", "scene_description": "A white conference table holds a beige water bottle, scattered colorful small blocks, a wooden shape-sorting box, a box of colored blocks, a silver tissue box, two white patterned cups, a dark metallic Yeti cup, a small spray bottle, and office supplies at the far end. A white robotic arm is positioned on the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward a white tissue on the table, grasps it, lifts it, uses it to repeatedly wipe the surface of the beige water bottle, then moves the used tissue toward the silver tissue box and releases it onto the table before retracting.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 194, "tasks": ["wipe tissue"], "length": 319, "global_instruction": "Wipe the left patterned white paper cup with a white tissue, then discard the tissue near the silver tissue box.", "scene_description": "A long white conference table holds colorful blocks (red, yellow, blue, green), a light brown wooden shape sorter, an open block storage box, a beige water bottle, a silver tissue box with pulled-out white tissues, two patterned white paper cups, a small blue spray bottle, a paper plate, and a black tumbler. A white robotic arm is positioned at the left side of the table, with office chairs lining the table sides and a whiteboard on the right wall.", "global_instruction_dense": "The right robotic gripper grasps a white tissue from near the silver tissue box, moves it left to the left patterned white paper cup, wipes the cup repeatedly, then moves the used tissue right and drops it near the silver tissue box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 195, "tasks": ["wipe tissue"], "length": 303, "global_instruction": "Wipe the light brown tabletop bottle using a white tissue", "scene_description": "A white conference table holds colorful wooden blocks, a wooden shape sorting box, a light brown bottle, a silver tissue box, a white paper cup, a black YETI tumbler, a small blue bottle, a clear tray, and a brown box. A white robotic arm with blue lights is positioned on the left side of the table, with conference chairs and a projector screen in the background.", "global_instruction_dense": "The right robotic arm moves toward a white tissue, grasps it, lifts it, moves to the light brown bottle, repeatedly wipes the bottle's opening and upper surface with the tissue, then moves the used tissue away from the bottle.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 196, "tasks": ["wipe tissue"], "length": 280, "global_instruction": "Wipe the white tabletop using a tissue.", "scene_description": "A white table holds colorful blocks, a wooden shape-sorter box, a small block-containing box, a tall beige bottle, a silver tissue box, a white paper cup, a black Yeti tumbler, and a white robotic arm is positioned at the left side of the table, with office chairs surrounding the table.", "global_instruction_dense": "The left robotic arm moves toward a tissue on the table, grasps it, repeatedly wipes the table surface, then moves the used tissue near the silver tissue box and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 197, "tasks": ["wipe tissue"], "length": 242, "global_instruction": "Wipe the table surface with a white tissue then place the used tissue next to the silver tissue box.", "scene_description": "A long white conference table surrounded by office chairs holds a white robotic arm on its left, colorful shape blocks, a wooden shape sorting box, an open block box, a beige tall bottle, a silver tissue box, a white paper cup, a black YETI tumbler, scattered white tissues, a small spray bottle, and electronics at the far table end.", "global_instruction_dense": "The left robotic arm moves toward a white tissue on the conference table, grasps the tissue, wipes the table surface around the shape blocks, then moves the used tissue to the area beside the silver tissue box and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 198, "tasks": ["wipe tissue"], "length": 337, "global_instruction": "Wipe the laptop screen with a tissue then discard the tissue into the small open tabletop box.", "scene_description": "A white conference table holds colorful geometric blocks, a light brown wooden puzzle box, a beige water bottle, a grey tissue box, an open black laptop, and other office supplies. A white robotic arm is positioned on the left side of the table, with conference chairs and wall-mounted displays in the background.", "global_instruction_dense": "The left robotic arm grasps a white tissue from the table, moves to the open black laptop to wipe its screen repeatedly, then moves to the small open box near the water bottle and drops the used tissue inside.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 199, "tasks": ["wipe tissue"], "length": 335, "global_instruction": "Wipe the silver laptop with a white tissue, then dispose of the used tissue in the silver tissue box.", "scene_description": "A white conference table holds colorful geometric blocks, a light beige wooden shape sorting cube, a beige reusable water bottle, an open light pink tissue box, a silver tissue box, a silver laptop, and small office items, with a white robotic arm positioned on the left side of the table and office chairs against the grey background wall.", "global_instruction_dense": "The left robotic arm grasps a white tissue from the open light pink tissue box, moves to the silver laptop, wipes its surface repeatedly, then moves the used tissue to the silver tissue box and releases it into the box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 200, "tasks": ["wipe tissue"], "length": 343, "global_instruction": "Wipe the screen of the open black laptop with a tissue, then place the used tissue on the table.", "scene_description": "A white robotic arm is positioned at the left of a long white conference table, on which are placed multicolored building blocks, a beige water bottle, a wooden shape sorter box, a grey tissue box, an open black laptop, a small spray bottle, and assorted office supplies, with office chairs lining the far side of the table.", "global_instruction_dense": "The left robotic arm moves to grasp a white tissue from the table, lifts the tissue, moves it to the open black laptop, repeatedly wipes the laptop's screen with the tissue, then moves the used tissue to the area near the tissue box and releases it onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 201, "tasks": ["wipe tissue"], "length": 338, "global_instruction": "Wipe the open laptop screen with a tissue, close the laptop, then place the used tissue beside the tissue box.", "scene_description": "A white conference table holds an open laptop with a blue screen, colorful small geometric blocks, a wooden shape-sorting cube, a beige reusable water bottle, a silver tissue box with protruding tissues, and stacked cardboard packages, with a white robotic arm positioned at the left edge of the frame, and office chairs and wall-mounted displays in the background.", "global_instruction_dense": "The left robotic gripper moves to the tissue box, grasps a tissue, carries it to the open laptop, wipes the laptop screen repeatedly, pushes the laptop lid closed with the tissue, moves the used tissue to the area next to the tissue box, and releases the tissue onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 202, "tasks": ["wipe tissue"], "length": 270, "global_instruction": "Pull a tissue from the gray tissue box, wipe the top of the wooden shape-sorting box with it, then place the used tissue on the table.", "scene_description": "A white robotic arm is positioned to the left of a long white conference table. On the table near the arm: colorful foam blocks (yellow, blue, green, orange), a black tumbler, a beige water bottle, a wooden shape-sorting box, and a gray tissue box with a tissue sticking out. Further down the table are a black laptop, office electronics, and office chairs line the back wall.", "global_instruction_dense": "The left robotic arm moves toward the gray tissue box, grasps and pulls out a tissue, moves the tissue to the top of the wooden shape-sorting box and wipes its surface, then moves the used tissue over the table near the beige water bottle and releases it onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 203, "tasks": ["wipe tissue"], "length": 301, "global_instruction": "Wipe the surface of the black laptop on the table using a white tissue", "scene_description": "A white robotic arm is at the left of a long white conference table. On the table, colorful blocks, a black tumbler, a wooden shape sorter, a black laptop, a tan water bottle, a gray tissue box, a paper cup, a small monitor, and a black case are arranged left to right, with office chairs along the table's right side and wall screens on the far gray wall.", "global_instruction_dense": "The left robotic gripper grasps a white tissue from the table, moves the tissue to the black laptop, repeatedly wipes the laptop surface, then moves the used tissue and releases it onto the table near the tan water bottle.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 204, "tasks": ["wipe tissue"], "length": 294, "global_instruction": "Wipe the white tabletop using a white tissue", "scene_description": "A long white conference table holds a light brown wooden shape sorter, colorful building blocks, a black small tumbler, a beige tall water bottle, a silver tissue box with a white cup on top, a laptop, and various office supplies. A white robotic arm is positioned at the left side of the table above the tabletop, with office chairs lining the wall behind the table.", "global_instruction_dense": "The left robotic arm moves downward to grasp a white tissue from the table, wipes the table surface repeatedly with the tissue, then places the used tissue onto the pile of tissues next to the silver tissue box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 205, "tasks": ["wipe tissue"], "length": 332, "global_instruction": "Take a tissue from the tissue box and wipe the table surface near the toy blocks.", "scene_description": "A white table holds colorful toy blocks, a wooden shape-sorting box, a black tumbler, a beige water bottle, a silver tissue box, and office supplies, with a white robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm moves to the silver tissue box, grasps and extracts a tissue, moves the tissue over the area with colorful toy blocks, and wipes the table surface there.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 206, "tasks": ["wipe tissue"], "length": 265, "global_instruction": "Wipe the white tabletop with a tissue then place the used tissue into the open block box.", "scene_description": "A white robotic arm is positioned left of a long white conference table. The table holds a wooden shape sorter, colorful small blocks, an open block box, a beige water bottle, a silver tissue box, a laptop, cups, and office supplies, with chairs against the back wall.", "global_instruction_dense": "The left robotic arm grasps a tissue, repeatedly wipes the white table surface with it, then moves the used tissue over the small open block box and releases the tissue into the box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 207, "tasks": ["wipe tissue"], "length": 253, "global_instruction": "Use a tissue extracted from the tissue box to wipe the surface of the white table.", "scene_description": "A white conference table holds a beige water bottle, small black monitor, black wallet, transparent tissue box, wooden shape-sorting house, box of multicolored blocks, small striped bowl with colored objects, silver remote control, and blue Artificial Intelligence textbook. A white robotic arm is positioned to the left of the table, with a screen showing the Toyota Research Institute logo, office chairs, and frosted window in the background.", "global_instruction_dense": "The left robotic arm moves toward the transparent tissue box, grasps and extracts a white tissue, moves the tissue across the white table surface in repeated wiping motions, then lifts the arm away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 208, "tasks": ["wipe tissue"], "length": 292, "global_instruction": "Pull a tissue from the tissue box and use it to wipe the white table surface.", "scene_description": "A white table sits in an office, with a white robotic arm at its left side. On the table, there is a beige water bottle, black remote control, gray tissue box, blue Artificial Intelligence textbook, wooden shape sorting cube, box of colorful blocks, striped paper plate, small spray bottle, black wallet, and small tablet. A screen showing the Toyota Research Institute logo is behind the table, with glass balcony doors in the background.", "global_instruction_dense": "The right robotic gripper moves toward the tissue box on the table, grasps and pulls a tissue out of the box, moves the tissue to the empty table surface, presses the tissue against the table and wipes the surface repeatedly, then releases the tissue on the table and lifts upward away from the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 209, "tasks": ["wipe tissue"], "length": 324, "global_instruction": "Wipe the surface of the open book with a tissue, then place the used tissue on the table.", "scene_description": "A white office table holds a cream water bottle, black remote control, open book, wooden shape sorter, gray tissue box, blue spray bottle, box of colorful small items, and small electronic devices; a white robotic arm is positioned to the left of the table, with a Toyota-branded display and sliding glass balcony door in the background.", "global_instruction_dense": "The right robotic arm pulls a white tissue out of the tissue box, moves the tissue over the open book on the table, wipes the book's surface repeatedly with the tissue, then moves the used tissue to the left side of the table, drops it, and lifts its arm away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 210, "tasks": ["wipe tissue"], "length": 314, "global_instruction": "Pull a tissue from the tissue box and wipe the table surface with it", "scene_description": "A white table holds a gray tissue box, black remote control, light brown box with red contents, yellow water bottle, wooden house-shaped puzzle, stacked papers, and a small round egg-colored object. A white robotic arm is at the left edge of the table, with a Toyota Research Institute branded display and glass balcony doors in the background.", "global_instruction_dense": "The right robotic gripper extends toward the gray tissue box on the table, grasps and pulls a tissue out of the box, lowers the tissue to the table, moves the tissue repeatedly across the table to wipe its surface, then lifts the tissue away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 211, "tasks": ["wipe tissue"], "length": 342, "global_instruction": "Pull a tissue from the tissue box, wipe the blue book with it, then place the used tissue on the table.", "scene_description": "In an office meeting room, a white oval table holds a beige water bottle at the left, a remote control near the front left, a blue Artificial Intelligence book with an orange stripe and yellow top at the right, a gray tissue box near the center, a wooden shape sorter, a blue spray bottle, a small patterned dish with colorful items, and loose papers, with a white robotic arm positioned above the upper left area of the table.", "global_instruction_dense": "The right robotic arm pulls a tissue from the gray tissue box on the white table, moves the tissue to the blue Artificial Intelligence book, wipes the book's surface repeatedly with the tissue, then moves the used tissue to the left side of the table and releases it onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 212, "tasks": ["wipe tissue"], "length": 325, "global_instruction": "Wipe the white table surface using the white tissue sheet", "scene_description": "A white table holds a beige water bottle, a small monitor, papers, a white tissue sheet, a blue spray bottle, a patterned plate with blocks, an AI textbook, a wooden shape sorting cube, and a remote control. A robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm moves toward the white tissue on the table, grasps it, moves it repeatedly across the table surface to wipe it, then lifts and repositions the tissue on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 213, "tasks": ["wipe tissue"], "length": 299, "global_instruction": "Wipe the cover of the blue Artificial Intelligence textbook using a white tissue.", "scene_description": "A white oval table holds a light yellow water bottle, small black monitor, silver tissue stack, blue spray bottle, small green container, patterned paper plate, grey remote control, blue Artificial Intelligence textbook with a yellow top edge, wooden shape sorting cube, and brown cardboard box. A white robotic arm is positioned at the left of the table, with a Toyota Research Institute display and glass balcony door in the background.", "global_instruction_dense": "The left robotic arm grasps a white tissue from the tissue stack on the table, moves the tissue over the blue Artificial Intelligence textbook, wipes the textbook's cover repeatedly with the tissue, moves the used tissue back near the tissue stack and releases it, then returns to its initial resting position.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 214, "tasks": ["wipe tissue"], "length": 300, "global_instruction": "Wipe the table surface with the white tissue placed on the table", "scene_description": "A white oval table holds a beige water bottle, small black monitor, plastic storage container, silver remote control, blue-and-yellow textbook, wooden shape sorter, brown cardboard box, blue spray bottle, patterned paper plate, and white tissue. A robotic arm is positioned above the table, with a Toyota Research Institute display and sliding glass balcony door in the background.", "global_instruction_dense": "The left robotic arm descends to grasp the white tissue on the table, wipes the table surface repeatedly with the tissue, then releases the tissue and lifts its arm back to a raised position.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 215, "tasks": ["wipe tissue"], "length": 310, "global_instruction": "Wipe the white table surface using a tissue from the tissue box.", "scene_description": "A white table holds a remote control, a blue Artificial Intelligence textbook, a beige water bottle, a wooden shape sorter, a small blue spray bottle, a plate with a yellow block, a tissue box, and small colorful items; a white robotic arm is positioned above the left side of the table, with a Toyota Research Institute screen and glass balcony door in the background.", "global_instruction_dense": "The left robotic arm moves toward the tissue box on the table, grasps a tissue, wipes the white table surface repeatedly with the tissue, then moves the tissue back near the tissue box and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 216, "tasks": ["wipe tissue"], "length": 376, "global_instruction": "Wipe the cover of the blue Artificial Intelligence textbook using a tissue.", "scene_description": "A white conference table holds a blue Artificial Intelligence textbook, a beige water bottle, a black-and-white remote control, assorted small craft toys, a stack of white papers, a gray tissue box, and a small black monitor, with a screen displaying the Toyota Research Institute logo on the wall behind the table, and a white robotic arm at the left side of the table.", "global_instruction_dense": "The right robotic gripper grasps a tissue from the stack of white papers on the table, moves the tissue over the blue Artificial Intelligence textbook, wipes the textbook's cover repeatedly, then moves the used tissue away and places it near the paper stack.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 217, "tasks": ["wipe tissue"], "length": 375, "global_instruction": "Wipe the white office table surface using a tissue extracted from the tissue pack.", "scene_description": "A white office table holds a beige water bottle, a wooden shape-sorting box, a white tissue pack, a small purple spray bottle, colorful toy blocks, a remote control, papers, and a small black monitor, with a robotic arm positioned at the left edge of the table and a Toyota Research Institute display screen in the background.", "global_instruction_dense": "The left robotic arm reaches toward the white tissue pack on the table, grasps and pulls out a tissue, moves the tissue to the front area of the table, wipes the table surface with repeated back-and-forth motions, then lifts the used tissue and moves it back toward the tissue pack.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 218, "tasks": ["wipe tissue"], "length": 283, "global_instruction": "Pull a tissue from the tissue box and wipe the conference table surface.", "scene_description": "A white conference table holds a gray tissue box, dark blue spray bottle, beige wooden shape-sorting cube, open light wood box with a yellow item, blue-and-orange textbook, brown padded envelope, blue-and-white patterned plate with a beige square object, and a small screened electronic device further down the table. Gray mesh office chairs surround the table, a wall screen displays a Toyota webpage in the background, and a white robotic arm is at the left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the gray tissue box, grasps and pulls a tissue out of the box, lowers the tissue to the table, moves it in back-and-forth motions to wipe the surface, then lifts the tissue away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 219, "tasks": ["wipe tissue"], "length": 383, "global_instruction": "Grasp a tissue from the tissue box and wipe the surface of the wooden shape-sorting box.", "scene_description": "A white conference table holds a gray tissue box, light beige wooden shape-sorting box, open brown cardboard box with silver and black items, gray TV remote, blue-and-white patterned round plate, small blue spray bottle, and small beige box with a yellow object inside. A white robotic arm is positioned above the left side of the table, with gray office chairs around the table and a wall-mounted TV displaying a Toyota interface in the background.", "global_instruction_dense": "The right robotic arm moves toward the gray tissue box, grasps a white tissue, moves the tissue over the light wooden shape-sorting box, wipes the box's surface repeatedly, then lifts the tissue away from the box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 220, "tasks": ["wipe tissue"], "length": 362, "global_instruction": "Wipe the blue-and-white patterned paper plate with a tissue, then return the tissue to the tissue box.", "scene_description": "A white conference table holds a gray tissue box with protruding white tissues, a small light brown open box with a yellow object inside, a wooden shape-sorting cube, a blue-and-white patterned paper plate, a gray remote control, and an open brown cardboard box with a silver device and black cables. A white robotic arm is positioned at the left of the table, with conference chairs around the table and a wall-mounted display in the background.", "global_instruction_dense": "The left robotic arm moves to the tissue box, grasps a white tissue, wipes the blue-and-white patterned paper plate with the tissue multiple times, then moves the tissue back to the tissue box and releases it inside.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 221, "tasks": ["wipe tissue"], "length": 385, "global_instruction": "Wipe the surface of the white conference table using a paper towel.", "scene_description": "A white conference table in a meeting room holds a transparent plastic box of colorful small items, a blue spray bottle, a wooden shape-sorting box, a remote control, a golden wrapped box, a white laptop, a small electronic device, and a tissue box, with a white robotic arm positioned left of the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp a paper towel from the table, wipes the tabletop surface in front of the transparent object box repeatedly, then lifts the paper towel and moves it away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 222, "tasks": ["wipe tissue"], "length": 304, "global_instruction": "Wipe the white conference table surface using a white tissue.", "scene_description": "A white conference table holds a beige shape-sorting box, black remote control, blue spray bottle, clear container of colorful small blocks, golden package, white notebook, small electronic device, and phone stand. A white robotic arm is positioned left of the table, with office chairs and a TV displaying a Toyota logo in the background.", "global_instruction_dense": "The left robotic arm moves down to grasp a white tissue from the tissue pack, wipes the table surface while moving the remote control, then lifts the tissue and returns to its initial elevated position.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 223, "tasks": ["wipe tissue"], "length": 299, "global_instruction": "Wipe the inside of the open brown cardboard box with a tissue then place the tissue on the table", "scene_description": "A white conference table holds a blue spray bottle, wooden shape-sorting box, black remote control, open brown cardboard box, clear plastic container of colorful small items, glasses with an attached black power cord, and a small electronic device at the far end. A white robotic arm is positioned at the upper left, gray office chairs surround the table, and a wall-mounted TV displays a Toyota branded screen.", "global_instruction_dense": "The left robotic arm moves downward to grasp a white tissue, moves over the open brown cardboard box to repeatedly wipe its interior, then moves the tissue leftward, releases it onto the table, and moves upward away from the table surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 224, "tasks": ["wipe tissue"], "length": 399, "global_instruction": "Wipe the surface of the open brown cardboard box on the table using a tissue", "scene_description": "A white conference table holds an open brown cardboard box, a wooden house-shaped toy, a black remote control, an open yellow small box, a blue-covered book with a yellow spine, a white tissue box, a small blue spray bottle, and loose white papers. A white robotic arm is positioned on the left of the table, with a wall-mounted TV, office chairs, a whiteboard, and a dark floor bag in the background.", "global_instruction_dense": "The left robotic arm moves toward a white tissue, grasps it, moves it to the open brown cardboard box on the table, wipes the box's surface repeatedly, moves the used tissue to the area near the tissue box and releases it, then retracts upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 225, "tasks": ["wipe tissue"], "length": 334, "global_instruction": "Wipe the surface of the white conference table using a white tissue.", "scene_description": "A white conference table holds a stack of white tissues, an open beige cardboard box, a wooden structure, a blue-and-yellow packaged box, a blue spray bottle, a grey tape dispenser, and small electronics at its far end. A robotic arm is positioned to the left of the table, with a wooden wall, office chairs, a whiteboard, and a Toyota-branded display screen in the background.", "global_instruction_dense": "The left robotic arm moves toward the stack of white tissues on the table, grasps one tissue, lowers it to the table surface, wipes the table with repeated back-and-forth motions of the tissue, then lifts the tissue away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 226, "tasks": ["wipe tissue"], "length": 347, "global_instruction": "Extract a tissue from the tissue box, use it to wipe the tabletop, then return the tissue to the box.", "scene_description": "A white conference table holds a white tissue box, blue spray bottle, black remote control, open brown cardboard box, blue-and-yellow book, wooden shape-sorter box, and clear plastic container of colorful blocks. A robotic arm is positioned to the left of the table, with office chairs along the table sides, a wooden wall, and a screen displaying Toyota branding at the far end of the room.", "global_instruction_dense": "The left robotic arm moves toward the white tissue box on the left of the table, extracts a white tissue, wipes the table surface near the black remote control repeatedly, then moves the tissue back to the tissue box, places it inside, and retracts.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 227, "tasks": ["wipe tissue"], "length": 368, "global_instruction": "Wipe the white tabletop and silver remote control using a white tissue.", "scene_description": "A white conference table holds a silver remote control, beige wooden shape-sorter cube, silver cube, blue spray bottle, open brown cardboard box, blue-and-yellow book, and clear plastic container. A left robotic arm is positioned at the left side of the table, with office chairs and a Toyota-branded screen in the background.", "global_instruction_dense": "The left robotic arm grasps a white tissue from the tissue box, moves the tissue to the table area near the silver remote control, wipes the table surface and the remote repeatedly, then moves the used tissue back to the tissue box area and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 228, "tasks": ["wipe tissue"], "length": 309, "global_instruction": "Wipe the surface of the white table using a tissue", "scene_description": "A white conference table holds a light beige shape-sorting box, cardboard piece, black remote control, blue book with orange/yellow accents, small open block box, blue spray bottle, clear tissue box, white tray, and small electronics at the far end. A white robotic arm is positioned above the left of the table, with a display screen, whiteboard, and office chairs in the background.", "global_instruction_dense": "The left robotic arm lowers toward the table, grasps a white tissue, wipes the table surface near the shape-sorting box and remote control with the tissue, then lifts the tissue and moves upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 229, "tasks": ["wipe tissue"], "length": 340, "global_instruction": "Wipe the cover of the blue-and-orange book using the white tissue", "scene_description": "A white conference table holds a white tissue sheet, a blue-and-orange book, a wooden sorting box, a clear container of colorful blocks, small toy balls, and a black tablet on its right side. A white robotic arm is positioned above the left end of the table, with gray office chairs and a dark backpack against the wall in the background.", "global_instruction_dense": "The left robotic arm moves down to grasp the white tissue on the table, carries the tissue to the blue-and-orange book, wipes the book's cover in repeated back-and-forth motions, then returns the tissue to the table surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 230, "tasks": ["wipe tissue"], "length": 315, "global_instruction": "Wipe the blue book and brown cardboard package with the white napkin, then place the napkin on the light brown wooden box.", "scene_description": "A white office table holds a light brown wooden box, white lidded container, bowl of colorful toy blocks, small open wooden box, blue book with an orange stripe, brown cardboard package, small display screen, black bag, and white napkin. A white robotic arm is positioned above the left side of the table, with office chairs, a whiteboard, and a dark backpack in the background.", "global_instruction_dense": "The left robotic gripper grasps the white napkin resting on the table, uses the napkin to wipe the surface of the blue striped book, then wipes the surface of the brown cardboard package, then moves the napkin to the light brown wooden box and releases it onto the box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 231, "tasks": ["wipe tissue"], "length": 268, "global_instruction": "Wipe the white table surface with the white tissue on the table", "scene_description": "A white office conference table holds a beige shape-sorting box, clear block container, small ball box, patterned plate with colorful blocks, blue textbook, brown package, black device, small screen, and black bag. Two office chairs are behind the table, a whiteboard is on the back wall, a backpack is on the floor, a white tissue lies on the table, and a robotic arm is at the left frame edge.", "global_instruction_dense": "The left robotic arm moves down to grasp the white tissue on the table, moves the tissue back and forth across the table to wipe its surface, then lifts the tissue away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 232, "tasks": ["wipe tissue"], "length": 294, "global_instruction": "Wipe the surface of the blue Artificial Intelligence textbook using a white tissue.", "scene_description": "A white conference table holds a wooden puzzle cube, a lidded transparent plastic container, a black-and-white patterned small bowl, an empty light-wood open box, a blue-covered Artificial Intelligence textbook with an orange stripe, a black rectangular electronic device, a small display screen with a blue interface, a black fabric bag, a spray bottle, a tissue pack, and loose white tissues. A white robotic arm is at the left of the table, with office chairs, a whiteboard, and a dark backpack in the background.", "global_instruction_dense": "The left robotic arm moves downward to grasp a white tissue from the table, lifts the tissue and moves it over the blue textbook, repeatedly wipes the textbook's surface with the tissue, then moves the used tissue away from the book and releases it onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 233, "tasks": ["wipe tissue"], "length": 284, "global_instruction": "Wipe the tabletop using the white tissue pack", "scene_description": "A white table holds a beige wooden hole cube, clear plastic container of colorful markers, small open wooden box, blue textbook, open brown cardboard box, tablet with a blue screen, black bag, and white tissue pack. A robotic arm is positioned at the left side of the table, with office chairs, a whiteboard, and a backpack against the wall in the background.", "global_instruction_dense": "The left robotic arm moves toward the white tissue pack on the table, grasps and lifts it, moves it repeatedly across the tabletop to wipe the surface, then lowers and releases the tissue pack back onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 234, "tasks": ["wipe tissue"], "length": 238, "global_instruction": "Wipe the white table surface using the white tissue placed on the table.", "scene_description": "A white office table holds a wooden perforated cube, a plastic container of colorful stationery, a small beige box with red and black objects, a blue textbook, a small digital display, black electronic devices, a white tissue, and a black bag. A left robotic arm is positioned above the left side of the table, with office chairs and a wall-mounted whiteboard in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the white tissue on the table, grasps the tissue, moves it repeatedly across the table surface to wipe the area, and remains holding the tissue at the end of the sequence.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 235, "tasks": ["wipe tissue"], "length": 289, "global_instruction": "Wipe the cover of the blue textbook with a tissue, then place the used tissue on the table.", "scene_description": "A white conference table holds a wooden shape-sorting box, a clear container of colorful small objects, a small tray with a red item and dark item, a blue-covered textbook, a small display screen, a black bag and office supplies; the left robotic arm is at the upper left of the table, with two office chairs and a whiteboard in the background.", "global_instruction_dense": "The left robotic arm grasps a white tissue from the table, moves it over the blue textbook, repeatedly wipes the textbook's cover with the tissue, then moves the tissue left and places it on the table next to the wooden shape-sorting box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 236, "tasks": ["wipe tissue"], "length": 300, "global_instruction": "Wipe the surface of the blue textbook on the table using a tissue.", "scene_description": "A white conference table holds a white robotic arm on its left, a tissue box, a clear container of colorful small items, a small beige box with red and dark objects, a blue-and-orange textbook, a black electronic device, a small display screen, a brown taped package, a black bag, and a water bottle, with office chairs and a whiteboard in the background.", "global_instruction_dense": "Left robotic arm grasps a tissue from the tissue box on the table, moves the tissue over to the blue textbook, wipes the textbook's surface repeatedly, then moves the used tissue back to the area near the tissue box and releases it onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 237, "tasks": ["wipe tissue"], "length": 261, "global_instruction": "Wipe the cover of the blue hardcover book using a white tissue.", "scene_description": "A white conference table holds a wooden cube, clear plastic container with colorful items, striped coiled ring, white papers, small beige box with red and black items, blue-and-orange hardcover book, black electronics, small display, brown cardboard package, and red tray. A white robotic arm is on the left side of the table, with two office chairs, a black backpack, and a whiteboard in the background.", "global_instruction_dense": "The right robotic gripper grasps a white tissue from the table, moves to the blue hardcover book, wipes its cover repeatedly, then moves the tissue back and places it on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 238, "tasks": ["wipe tissue"], "length": 263, "global_instruction": "Wipe the surface of the blue textbook with a tissue then dispose of the used tissue into the small beige container.", "scene_description": "A white conference table holds a wooden puzzle cube, multiple small containers with colored objects, a blue textbook with orange and yellow accents, a small black-framed display, a sealed brown paper package, black electronic accessories, and a black fabric pouch. A white robotic arm is positioned at the left edge of the table, with two gray office chairs, a whiteboard, and a dark backpack visible in the background.", "global_instruction_dense": "The left robotic arm grasps a white tissue, wipes the cover of the blue textbook repeatedly with the tissue, drops the used tissue into the small beige container, then moves back toward the stack of tissues.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 239, "tasks": ["wipe tissue"], "length": 246, "global_instruction": "Wipe the cover of the blue and orange textbook using the white tissue on the table", "scene_description": "A white conference table holds a white tissue, wooden perforated cube, small box with colorful items, open cardboard box with small objects, blue-and-orange textbook, brown taped package, black power adapter, small display screen, and black bag. A white robotic arm is positioned at the left of the table, with office chairs and a wall-mounted whiteboard in the background.", "global_instruction_dense": "The left robotic gripper moves down to grasp the white tissue from the table, lifts the tissue, moves it to the blue and orange textbook, wipes the textbook's cover in repeated motions, then returns the tissue to its original position and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 240, "tasks": ["wipe tissue"], "length": 377, "global_instruction": "Extract a tissue from the metallic tissue box, use it to wipe the table surface, then place the used tissue beside the box.", "scene_description": "A white oval table holds a metallic tissue box, a black laptop, a spray bottle, small bowls, utensils, a remote control, and other miscellaneous items. A white robotic arm is positioned on the left side of the table, and a screen displaying the Toyota Research Institute logo is on the wall behind the table.", "global_instruction_dense": "The right robotic arm moves toward the metallic tissue box on the white table, grasps the protruding tissue, pulls it fully out of the box, moves the tissue over the table to wipe the surface repeatedly, then places the used tissue next to the tissue box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 241, "tasks": ["wipe tissue"], "length": 429, "global_instruction": "Open the laptop and wipe its screen with a white tissue", "scene_description": "A closed black laptop, blue spray bottle, white tissues, small dishes, keyboard, beige wooden cube, green soda can and other office items are placed on a white table, with a robotic arm positioned at the left side of the view.", "global_instruction_dense": "The left robotic arm grasps the closed laptop lid, lifts it to fully open the laptop, picks up a white tissue from the table, repeatedly wipes the laptop screen with the tissue, then places the used tissue back on the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 242, "tasks": ["wipe tissue"], "length": 281, "global_instruction": "Wipe the black laptop screen using a white tissue.", "scene_description": "A white oval table holds a black laptop, silver tissue box, spray bottle, small bowls, black keyboard, wooden perforated cube, books, a green soda can and other small items, with a Toyota Research Institute display screen in the background, and a right robotic arm positioned above the table near the screen.", "global_instruction_dense": "The right robotic arm moves down to grasp a white tissue, moves to the black laptop, wipes the laptop screen repeatedly with the tissue, then lifts the tissue away from the laptop.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 243, "tasks": ["wipe tissue"], "length": 309, "global_instruction": "Pull a tissue from the tissue box and use it to wipe the white table surface.", "scene_description": "A white table holds a metallic silver tissue box, a blue-and-white patterned bowl, a small white dish with green and orange items, a yellow bowl with yellow objects, a black laptop, a gray remote control, a purple-and-green spray bottle, a green soda can, and multiple utensils; a white robotic arm is at the left edge of the table, and a screen showing the Toyota Research Institute logo is in the background.", "global_instruction_dense": "The right robotic arm moves toward the metallic silver tissue box on the white table, grasps a tissue, pulls it out of the box, wipes the table surface with the tissue, then moves away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 244, "tasks": ["wipe tissue"], "length": 276, "global_instruction": "Wipe the laptop screen using a tissue pulled from the tissue box", "scene_description": "A white table holds a black laptop, green soda can, clear tissue box, bowls with items, black tongs, spray bottle, remote control, and small objects; a white robotic arm is on the table's left, with a Toyota-branded display in the background.", "global_instruction_dense": "The left robotic gripper reaches to the tissue box, grasps and extracts a tissue, moves to the laptop screen to wipe it repeatedly, then moves the tissue back near the tissue box and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 245, "tasks": ["wipe tissue"], "length": 247, "global_instruction": "Wipe the white tabletop using a white tissue.", "scene_description": "A white table holds a laptop, green soda can, bowl with yellow items, paper plate, blue tin with blocks, measuring tape, remote, tissue box, and other small objects, with a robotic arm positioned at the table's left edge.", "global_instruction_dense": "The right robotic arm moves toward a white tissue on the table, grasps it, moves it back and forth over the table surface to wipe it, then moves the used tissue toward the tissue box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 246, "tasks": ["wipe tissue"], "length": 264, "global_instruction": "Extract a tissue from the tissue box, wipe the laptop screen with it, then place the tissue on the table.", "scene_description": "A white oval table holds an open laptop, green soda can, white fruit bowl, tissue box, remote control, small tools, and assorted small items. A white robotic arm is positioned on the left edge of the table, with a screen displaying Toyota Research Institute branding in the background.", "global_instruction_dense": "The right robotic arm moves toward the tissue box on the table, grasps and pulls out a tissue, moves to the laptop screen to wipe it, then moves the tissue to the table surface and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 247, "tasks": ["wipe tissue"], "length": 347, "global_instruction": "Wipe the table surface near the white bowl with yellow contents using a tissue.", "scene_description": "A white office table holds a silver laptop, green soda can, white bowl with yellow contents, white plate with green blocks, blue patterned plate with blue and green blocks, spray bottle, TV remote, metallic tissue box, small wooden cube, and other small items, with a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves to grasp a white tissue from the table, moves the tissue to the area adjacent to the white bowl with yellow contents, wipes the table surface there in repeated back-and-forth motions, then moves the used tissue toward the metallic tissue box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 248, "tasks": ["wipe tissue"], "length": 360, "global_instruction": "Wipe the conference table surface using the white napkin.", "scene_description": "A white robotic arm is positioned on the left of a white conference table, which holds a green Sprite can, a bowl of colorful blocks, a wooden shape sorter, a remote control, cutlery, a white napkin, and assorted small office items, with a wall-mounted display and office chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the white napkin on the conference table, grasps it, wipes the table surface near the bowl of colored blocks, then moves the napkin to the left side of the green Sprite can and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 249, "tasks": ["wipe tissue"], "length": 289, "global_instruction": "Wipe the white tabletop using a white tissue.", "scene_description": "A white table holds a wooden shape sorting box, a bowl of blue and yellow blocks, a small plate with green blocks, black tongs, a green soda can, a small blue bottle, and assorted office items. Two white robotic arms are positioned to the left of the table, a whiteboard is on the left wall, and a display with a Toyota logo is mounted on the back wall.", "global_instruction_dense": "The right robotic arm moves toward a white tissue on the table, grasps it, wipes the table surface in multiple passes, then releases the tissue onto the left side of the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 250, "tasks": ["wipe tissue"], "length": 367, "global_instruction": "Place the metal spoon into the white bowl then wipe the table with a white napkin", "scene_description": "A left white robotic arm is positioned to the left of a white table. On the table lie a metal spoon, white bowl with a yellow object inside, small plate with green items, two beverage cans, wooden shape-sorting box, white rectangular tray, small brown cardboard box, and yellow water bottle; a screen with Toyota Research Institute branding is in the background.", "global_instruction_dense": "The left robotic arm moves toward the metal spoon on the table, grasps and places it into the white bowl, then grasps a white napkin, wipes the table surface with the napkin, and finally lifts the napkin upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 251, "tasks": ["wipe tissue"], "length": 285, "global_instruction": "Wipe the table surface with a white napkin then place the used napkin on the white ceramic dish.", "scene_description": "A white table holds a stack of white napkins, a plain white ceramic dish, a blue-and-white striped paper plate, a bowl of colorful foam blocks, a small box with red items, a blue-and-yellow AI textbook, a silver tissue box, a yellow water bottle, and a laptop. A white robotic arm with a gripper is positioned above the left side of the table.", "global_instruction_dense": "The left robotic gripper descends to grasp a white napkin from the table, moves the napkin across the table surface to wipe it, transports the used napkin over the white ceramic dish, releases it onto the dish, then retracts upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 252, "tasks": ["wipe tissue"], "length": 282, "global_instruction": "Wipe the cover of the blue Artificial Intelligence textbook on the table using a tissue.", "scene_description": "A white table holds a wooden shape-sorting box, small bowls of colored blocks, a box of red objects, a grey tissue box, a yellow water bottle, a blue Artificial Intelligence textbook, a silver laptop, and a black tablet, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white tissue from the table, moves the tissue to the blue textbook, wipes the textbook's cover repeatedly with the tissue, then moves the tissue away from the book.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 253, "tasks": ["wipe tissue"], "length": 254, "global_instruction": "Wipe the white table surface using the loose white tissue on the table.", "scene_description": "A white table holds a light brown wooden puzzle box, small bottles, a blue-covered Artificial Intelligence book, a pale yellow water bottle, a silver tissue holder, a laptop, a lit-screen tablet, black electronic devices, and a loose white tissue, with a right robotic arm positioned above the far side of the table.", "global_instruction_dense": "The right robotic arm moves toward the loose white tissue on the table, grasps it, wipes the table surface in multiple motions, then lifts the used tissue away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 254, "tasks": ["wipe tissue"], "length": 270, "global_instruction": "Wipe the blue Artificial Intelligence book on the table with a white tissue", "scene_description": "A white office table holds a blue-and-yellow Artificial Intelligence book, a silver tissue box, a yellow water bottle, a wooden puzzle box, two small dishes with colorful blocks, a white storage container, a laptop, and a small display screen. A dual-arm white robotic arm is positioned to the left of the table, with its right gripper raised above the table. An office chair and whiteboard are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white tissue on the table, grasps it, moves the tissue repeatedly over the surface of the blue Artificial Intelligence book to wipe it, then places the tissue down on the table and lifts its gripper away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 255, "tasks": ["wipe tissue"], "length": 233, "global_instruction": "Wipe the cover of the blue Artificial Intelligence textbook with a white tissue.", "scene_description": "A white office table holds various items including a wooden shape sorting toy, green soda can, plastic storage container, silver tissue box, yellow water bottle, blue Artificial Intelligence textbook, bowls holding colored blocks, blue spray bottle, laptop, and tablet. A white robotic arm is positioned on the left of the table, and a person stands near the back wall by a whiteboard.", "global_instruction_dense": "The left robotic gripper moves down to grasp a white tissue from the table, uses the tissue to repeatedly wipe the cover of the blue Artificial Intelligence textbook, then moves the used tissue away from the book and places it on the table surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 256, "tasks": ["wipe tissue"], "length": 253, "global_instruction": "Wipe the cover of the blue Artificial Intelligence textbook using a white tissue.", "scene_description": "A white table holds a wooden shape sorter, green soda can, clear storage box, bowls with green and blue blocks, a blue Artificial Intelligence textbook with an orange stripe, yellow water bottle, silver tissue box, laptop, purple spray bottle, tablet, and small black devices. A right robotic arm is positioned high above the table near the back wall.", "global_instruction_dense": "The right robotic arm moves downward from its initial high position to grasp a white tissue on the table, moves the tissue over the blue AI textbook, wipes the textbook's cover repeatedly, then lifts the tissue away from the book.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 257, "tasks": ["wipe tissue"], "length": 355, "global_instruction": "Wipe the white table surface using the white tissue sheet", "scene_description": "A white right robotic arm is positioned on the left side of the egocentric view above a white table. On the table, there is a wooden shape-sorting toy, a green soda can, a clear plastic storage box with a white lid, a metallic tissue dispenser, a tall yellow water bottle, a silver laptop, a blue book with a yellow top edge, a small white bowl holding a blue rectangular block, a patterned plate with blue objects, a small white plate with green items, a black pen, a white keyboard, and a single white tissue sheet near the storage box. A black office chair and wall-mounted whiteboard are in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white tissue sheet on the table, moves the tissue repeatedly across the table surface to wipe it, then lifts the tissue away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 258, "tasks": ["wipe tissue"], "length": 298, "global_instruction": "Take a tissue from the tissue box and wipe the white table surface.", "scene_description": "A white table holds a white tissue box, beige water bottle, open black laptop, brown cardboard box, blue-and-white patterned plate with a blue block, white bowl with wooden chopsticks, blue-capped spray bottle, container of multicolored building blocks, green soda can, and TV remote. Two white robotic arms are on the left side of the table, a Toyota Research Institute screen is behind the table, and a glass balcony door is in the background.", "global_instruction_dense": "The right robotic arm moves toward the tissue box, grasps and pulls a tissue out of the box, moves the tissue to the table, and wipes the table surface with the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 259, "tasks": ["wipe tissue"], "length": 276, "global_instruction": "Wipe the surface of the open black laptop with a white tissue then place the tissue back on the table.", "scene_description": "A white table holds a white tissue, blue-and-green spray bottle, white bowl with chopsticks and a red block, blue block on a blue-white patterned plate, box of multi-colored building blocks, beige water bottle, open black laptop, small cardboard box, and two white robotic arms, with a Toyota Research Institute display screen behind the table and a balcony visible through glass doors.", "global_instruction_dense": "The right robotic gripper moves to grasp the white tissue on the table, lifts it, moves it to the open black laptop to wipe the laptop's surface, then moves the tissue back to the table and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 260, "tasks": ["wipe tissue"], "length": 235, "global_instruction": "Wipe the white table surface using the white napkin", "scene_description": "A white table holds a beige water bottle, a white bowl with blue, green, red blocks, a blue-and-white patterned small plate with a blue block, a brown cardboard box, a white tray, a remote control, and a white napkin. Two white robotic arms are at the left of the table, the right arm is initially raised near a Toyota Research Institute display, and glass balcony doors are in the background.", "global_instruction_dense": "The right robotic arm moves down from its initial raised position, grasps the white napkin on the table, and moves the napkin repeatedly across the table surface to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 261, "tasks": ["wipe tissue"], "length": 363, "global_instruction": "Wipe the white conference table surface using the white tissue paper.", "scene_description": "A white conference table holds a beige water bottle, bowls of colorful blocks, a white tissue, yellow sponge, green soda can, laptop, remote, and brown package. A left white robotic arm is at the left of the table, a screen with Toyota Research Institute logo is in the background near a glass door to an outdoor balcony.", "global_instruction_dense": "The right robotic arm descends toward the white tissue on the table, grasps it, moves it across multiple areas of the table surface to wipe it, then lifts the tissue away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 262, "tasks": ["wipe tissue"], "length": 309, "global_instruction": "Wipe the white table surface using the white paper tissue on the table.", "scene_description": "A white conference table holds a white paper tissue, a purple spray bottle, a bowl of colorful blocks, a yellow water bottle, a brown package, a black laptop, a white mug with red rim, a green soda can, a yellow sponge, and a remote control. A right robotic arm is raised above the far end of the table, with a Toyota Research Institute TV and glass balcony doors in the background.", "global_instruction_dense": "The right robotic arm moves downward from its raised initial position, grasps the white paper tissue on the table, presses the tissue against the table surface, moves the tissue across the table to wipe it, then lifts the tissue away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 263, "tasks": ["wipe tissue"], "length": 281, "global_instruction": "Wipe the white tabletop using a tissue taken from the cardboard tissue box.", "scene_description": "A white table holds a paper plate with colorful blocks, a white bowl with colorful blocks, a beige water bottle, a purple spray bottle, a green soda can, an open wooden box with chopsticks, and a cardboard tissue box. A white robotic arm is at the left of the table, a screen displaying the Toyota Research Institute logo is at the back, and floor-to-ceiling windows leading to a balcony with outdoor chairs are on the right.", "global_instruction_dense": "The right robotic arm moves toward the cardboard tissue box on the table, grasps and pulls out a tissue, then moves the tissue across the white tabletop to wipe the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 264, "tasks": ["wipe tissue"], "length": 270, "global_instruction": "Wipe the white table surface using a white napkin.", "scene_description": "A white table holds assorted items including white napkins, a black remote control, a patterned plate with food, a white bowl of blue sponges, a blue spray bottle, a box of multicolored blocks, a clear craft supply bin, and a beige water bottle, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves down to grasp a white napkin from the table, wipes the table surface near the remote and plate multiple times, then releases the napkin and lifts back up.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 265, "tasks": ["wipe tissue"], "length": 310, "global_instruction": "Wipe the surface of the white table using the paper napkin", "scene_description": "A white table holds a white paper napkin, remote control, patterned plate with brown food, white bowl with blue items, blue spray bottle, box of colorful blocks, clear tool container, and yellow water bottle. A white robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm lowers toward the white paper napkin on the table, grasps the napkin, moves it repeatedly across the table surface to wipe the area, then lifts the napkin off the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 266, "tasks": ["wipe tissue"], "length": 367, "global_instruction": "Wipe the beige water bottle with a tissue, then place the used tissue on the table.", "scene_description": "A white office table holds an open cardboard box with cables, black laptop, small tablet, beige water bottle, wooden shape-sorting cube, tissue box, spray bottle, bowl of colorful toy fruits, red Doritos packet on a white plate, patterned paper bowls, and a Franka robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp a white tissue from the table, lifts it, moves it to the beige water bottle to repeatedly wipe its surface, then moves the used tissue near the spray bottle and releases it onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 267, "tasks": ["wipe tissue"], "length": 464, "global_instruction": "Extract a tissue from the tissue box and use it to wipe the table, paper plate, and bowl of blocks.", "scene_description": "A white conference table holds an open cardboard box with black cables, an orange Doritos bag on a white plate with a metal utensil, a beige water bottle, a wooden shape sorter, a tissue box on stacked books, a white bowl of colorful blocks, a blue spray bottle, a blue-and-white patterned paper plate, a black laptop, a small tablet, and a black remote, with a right robotic gripper positioned above the table near the tissue box.", "global_instruction_dense": "The right robotic gripper moves toward the tissue box on stacked books, grasps and extracts a tissue, moves the tissue to wipe the table surface, the patterned paper plate, and the contents of the white bowl of colorful blocks, then adjusts the tissue before moving upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 268, "tasks": ["wipe tissue"], "length": 310, "global_instruction": "Wipe the blue-white patterned paper bowl using a white tissue", "scene_description": "A white table holds an open brown cardboard box with black cables, a beige water bottle, a light wooden shape sorter, a gray tissue box, a white bowl of colorful blocks, a purple-capped spray bottle, a blue snack packet, a white plate with a red Doritos bag and metal spatula, and a blue-white patterned paper bowl. A Franka Emika robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm grasps a white tissue from the table, moves the tissue to the blue-white patterned paper bowl, wipes the bowl's interior repeatedly, then places the used tissue on the table next to the bowl.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 269, "tasks": ["wipe tissue"], "length": 447, "global_instruction": "Wipe the table surface near the white plate and bowl of blocks using a tissue.", "scene_description": "A white conference table holds an open cardboard box with black cables, a white plate with a red snack packet and black serving spatula, a beige water bottle, a wooden shape sorter, a gray tissue box, a spray bottle, a white bowl of multicolored blocks, a blue-and-white patterned paper plate, and laptops/tablets at the far end, with a robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm descends to grasp a white tissue, moves the tissue to the table area between the white plate and bowl of multicolored blocks, then performs repeated back-and-forth motions to wipe the table surface with the tissue.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 270, "tasks": ["wipe tissue"], "length": 271, "global_instruction": "Wipe the empty blue-and-white patterned small dish on the table using a white tissue.", "scene_description": "A white table holds an open cardboard box with electronic cables, a red snack packet on a white paper plate with a metal fork, a beige water bottle, a bowl of multicolored blocks, a wooden puzzle structure, a tissue box, a purple spray bottle, an empty blue-and-white patterned small dish, a second dish with a snack packet, and laptops/tablets at the far end, with two robotic arms positioned at the right side of the table.", "global_instruction_dense": "The left robotic arm moves down to grasp a white tissue from the table, moves the tissue onto the empty patterned small dish, wipes the dish in repeated circular motions, then lifts the tissue away from the dish.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 271, "tasks": ["wipe tissue"], "length": 289, "global_instruction": "Wipe the empty blue-and-white patterned plate using the white tissue on the table", "scene_description": "A white office table holds a brown cardboard box, beige water bottle, wooden shape sorter, bowl of colorful blocks, spray bottle, empty blue-and-white patterned plate, white plate with a red snack packet and spoon, clear plastic container, tissue box, stacked books, and laptop/tablet in the background. A robotic arm is positioned at the right side of the table, with a white tissue placed near the spray bottle.", "global_instruction_dense": "The right robotic arm grasps the white tissue on the table, lifts it, repeatedly wipes the interior of the empty blue-and-white patterned plate, then places the used tissue back on the table and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 272, "tasks": ["wipe tissue"], "length": 346, "global_instruction": "Wipe the white tabletop using a white paper napkin.", "scene_description": "A white table holds a beige wooden shape puzzle, blue-green spray bottle, gray remote control, open brown cardboard box, white bowl with colored blocks, large beige water bottle, stacks of white paper napkins, and assorted office items, with a robotic arm positioned at the right side of the view.", "global_instruction_dense": "The right robotic gripper moves down toward a stack of white paper napkins, grasps one napkin, moves it across the table surface to wipe the table, then releases the used napkin onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 273, "tasks": ["wipe tissue"], "length": 321, "global_instruction": "Use the small white paper napkin to wipe the top of the tall beige water bottle, then place the napkin back on the table.", "scene_description": "A long white conference table holds a white patterned paper cup on the left, three small metal cylinders on a white sheet, a light brown wooden open box, a purple spray bottle, an open brown cardboard box with an electronic device inside, a gray remote control, a folded white cloth, a small white paper napkin, a tall beige water bottle, a white bowl with colorful small blocks, and electronic devices further along the table; a robotic arm is positioned to the right of the table, black office chairs and wall-mounted screens are in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the small white paper napkin on the table, lifts the napkin, moves it to the top of the tall beige water bottle, wipes the bottle cap with the napkin repeatedly, then lowers the napkin back to the table surface and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 274, "tasks": ["wipe tissue"], "length": 246, "global_instruction": "Wipe the white tabletop using the white cloth napkin", "scene_description": "A white conference table holds a patterned paper cup, three silver metal blocks, a purple spray bottle, a light brown wooden box, an open cardboard box with electronics, a beige water bottle, a bowl of colorful blocks, a gray remote control, and a white napkin. A robotic arm is positioned above the right side of the table, with conference chairs and wall monitors in the background.", "global_instruction_dense": "The left robotic arm moves downward to grasp the white napkin on the table, wipes the table surface by moving the napkin back and forth, then releases the napkin back onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 275, "tasks": ["wipe tissue"], "length": 249, "global_instruction": "Wipe the surface of the white meeting table using the folded white tissue.", "scene_description": "A long white meeting table in a conference room holds items including a patterned paper cup, three small metal cylinders on a white board, a light brown wooden cutout box, a purple spray bottle, a grey remote, an open brown cardboard box with an electronic device, a large beige water bottle, a white bowl of multicolored blocks, and a folded white tissue, with a Franka Emika robotic arm at the table's right side and wall screens and office chairs in the background.", "global_instruction_dense": "The left robotic arm moves down to the folded white tissue on the table, grasps the tissue, wipes the table surface with it in repeated circular motions, then lifts the tissue away from the table after wiping.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 276, "tasks": ["wipe tissue"], "length": 391, "global_instruction": "Wipe the white conference table surface using the white paper napkin on the table.", "scene_description": "A long white conference table holds multiple objects: three small silver metal bars on a left-side white pad, a patterned paper cup, a light wooden shape-sorter box, a purple-green spray bottle, a brown cardboard package, a gray tissue box, a small dish with red and dark items, a large tan water bottle, a small bowl with red/blue blocks and a spatula, and snacks further back. Two monitors are at the table's far end, chairs line the table sides, and a robotic arm is positioned at the table's right edge.", "global_instruction_dense": "The left robotic arm moves down toward the white paper napkin on the table, grasps the napkin, moves it in repeated circular motions across the table surface to wipe it, then lifts the napkin away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 277, "tasks": ["wipe tissue"], "length": 258, "global_instruction": "Wipe the table surface using the white napkin", "scene_description": "A white conference table holds a patterned paper cup, three small silver metal blocks, a purple spray bottle, a light wooden puzzle box, an open cardboard box, a beige tall water bottle, a small white bowl with a metal spoon, a remote control, a stack of white napkins, a tissue box, and a tablet in the background; a robotic arm is positioned to the right of the table, with office chairs and wall-mounted displays on the far wall.", "global_instruction_dense": "The right robotic arm moves toward the stack of white napkins on the table, grasps a napkin, presses it against the table surface, moves it repeatedly in wiping motions across the table, then releases the napkin and lifts away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 278, "tasks": ["wipe tissue"], "length": 217, "global_instruction": "Wipe the kitchen counter using a folded white napkin", "scene_description": "A white kitchen counter holds a paper towel roll on the far left, a yellow U-shaped block, clear spray bottle, two stacks of printed paper cups, a white bowl with dark food and a spoon, a black insulated tumbler, an open wooden box, a red square block, a brown food slice, and folded white napkins, against a gray tiled backsplash, with a robotic arm at the top right of the frame.", "global_instruction_dense": "The right robotic arm lowers toward a folded white napkin on the kitchen counter, grasps it, moves it across the counter in wiping motions, releases the napkin, then retracts upward away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 279, "tasks": ["wipe tissue"], "length": 237, "global_instruction": "Wipe the white kitchen countertop using the white paper napkin", "scene_description": "A white kitchen counter holds a white paper towel roll on the left, a yellow U-shaped block, a clear spray bottle, a white patterned paper cup, a white bowl with dark contents, a black tumbler, a small white cap, a light brown wooden box, a brown snack, a small red block, and stacked patterned cups at the far back right, with a robotic arm positioned at the top right.", "global_instruction_dense": "The right robotic arm lowers toward the white paper napkin on the counter, grasps it, performs repeated circular wiping motions across the counter surface, then lifts the napkin and moves it leftward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 280, "tasks": ["wipe tissue"], "length": 348, "global_instruction": "Wipe the white countertop using a white paper napkin.", "scene_description": "A white kitchen counter holds a white paper towel roll on the far left, a yellow U-shaped block, clear spray bottle, printed white paper cup, white bowl, small white cap, light brown wooden box, small brown slice, red square block, two stacked printed paper cups, and a black tumbler, with a robotic arm positioned at the upper right of the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp a white paper napkin on the counter, repeatedly wipes different areas of the counter surface with the napkin, then releases the napkin and moves upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 281, "tasks": ["wipe tissue"], "length": 262, "global_instruction": "Wipe the white kitchen countertop using a paper towel", "scene_description": "A white kitchen countertop holds a paper towel roll on the left, a yellow U-shaped block, a clear spray bottle, a stack of printed paper cups, a white bowl with dark contents, a small open wooden box, two small red objects, and stacked paper cups in the background, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white paper towel on the counter, wipes the countertop surface with back-and-forth motions of the towel, then lifts the towel away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 282, "tasks": ["wipe tissue"], "length": 269, "global_instruction": "Wipe the white kitchen countertop using a paper towel", "scene_description": "A white paper towel roll on a black holder is at the left of a white kitchen countertop. On the counter, there are a small yellow U-shaped object, clear spray bottle, stack of printed white paper cups, white bowl with dark contents, small wooden slice, light brown square container, small black cup, and additional printed cups in the background against a gray tiled wall with power outlets.", "global_instruction_dense": "The right robotic arm moves left from its initial position near the black cup, grasps a white paper towel on the counter, then repeatedly moves the paper towel across the counter surface to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 283, "tasks": ["wipe tissue"], "length": 476, "global_instruction": "Wipe the white kitchen counter surface using the folded white napkin.", "scene_description": "A white kitchen counter has a white paper towel roll on a black stand at the left, a small yellow U-shaped plastic piece, a folded white napkin, a white printed paper cup, a white bowl with dark contents, a beige open box, a small white cap, a brown wood slice, and stacked paper cups at the back, with a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the folded white napkin on the counter, grasps the napkin with its gripper, then moves the napkin repeatedly across the counter surface to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 284, "tasks": ["wipe tissue"], "length": 365, "global_instruction": "Wipe the white kitchen countertop using a paper towel and dispose of the used towel near the paper towel roll.", "scene_description": "A white kitchen counter with a grey tiled backsplash holds a roll of white paper towels on the left, a patterned paper cup in the foreground, a clear glass, a white bowl with dark food, a small black canister, a wooden box with a red item inside, and stacked paper cups at the far right, with a robotic arm positioned at the rear right of the counter.", "global_instruction_dense": "The right robotic arm moves down from the rear right of the counter, grasps a paper towel near the paper towel roll, wipes the white countertop surface with repeated side-to-side motions, then moves the used paper towel to the area next to the paper towel roll and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 285, "tasks": ["wipe tissue"], "length": 318, "global_instruction": "Wipe the white kitchen counter using a white napkin, then place the used napkin near the paper towel roll.", "scene_description": "A white kitchen counter has a paper towel roll on its far left, a stack of white napkins, a printed white paper cup, a clear glass, another printed paper cup, a small black container, a white bowl with dark food, and stacked printed paper cups near the back gray tiled wall. A FRANKA EMIKA robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white napkin from the stack on the counter, wipes the counter surface with the napkin in repeated back-and-forth motions, then moves the used napkin to the left near the paper towel roll and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 286, "tasks": ["wipe tissue"], "length": 405, "global_instruction": "Use a paper towel to wipe the countertop and the printed paper cup.", "scene_description": "A white kitchen counter with gray tiled backsplash holds a paper towel roll on the left, a printed paper cup, clear glass, white bowl with dark contents, black small container, beige box with red item inside, and stacked Starbucks cups on the far right.", "global_instruction_dense": "The right robotic gripper moves down to grasp a paper towel from the counter, wipes the white counter surface repeatedly, then wipes the top of the printed paper cup, then releases the used paper towel onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 287, "tasks": ["wipe tissue"], "length": 255, "global_instruction": "Wipe the white kitchen countertop using a white napkin", "scene_description": "A white kitchen counter has a stack of patterned paper cups at front center, white napkins to its right, a small white cap, a clear spray bottle, a black small container, a white bowl, an open light brown box with red contents, two stacks of paper cups at the far right, a robotic arm at upper right, and a paper towel roll at the left.", "global_instruction_dense": "The right robotic arm descends toward a white napkin on the counter, grasps it, moves it across the counter surface in wiping motions, then releases the napkin onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 288, "tasks": ["wipe tissue"], "length": 351, "global_instruction": "Wipe the white kitchen countertop surface using a flat white tissue.", "scene_description": "A white paper towel roll sits on the left of a white kitchen countertop. The countertop has a clear glass bottle, black tumbler, small red cap, beige small box, multiple stacks of printed white paper cups, and two flat white tissues. A robotic gripper is positioned near the paper cups at the far end of the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp a flat white tissue on the countertop, wipes the countertop surface repeatedly in multiple directions, then moves the used tissue leftward and releases it near the paper towel roll before moving back upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 289, "tasks": ["wipe tissue"], "length": 267, "global_instruction": "Wipe the white kitchen countertop using a paper towel", "scene_description": "A white kitchen countertop has a white paper towel roll with a silver handle on a black holder at the left, a clear glass on a white napkin, a small white bowl, a black cup with dark liquid, a small red cap, and stacks of patterned paper cups, with a robotic arm at the upper right of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward a paper towel on the counter, grasps the paper towel, moves it back and forth across the countertop to wipe the surface, then releases the paper towel and moves upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 290, "tasks": ["wipe tissue"], "length": 305, "global_instruction": "Wipe the kitchen countertop using a white napkin", "scene_description": "A white paper towel roll sits on the left of a white kitchen countertop, with a black tumbler, clear spray bottle, small red cap, stacked patterned paper cups, and white napkins arranged on the counter in front of a gray tiled backsplash.", "global_instruction_dense": "The right robotic arm moves toward the white napkins on the counter, grasps a napkin, moves it repeatedly across the counter surface to wipe it, then releases the napkin onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 291, "tasks": ["wipe tissue"], "length": 352, "global_instruction": "Wipe the white countertop surface using a paper napkin.", "scene_description": "A white kitchen counter holds a white paper towel roll on a metal stand at the left, a black insulated tumbler with a silver lid, a clear glass bottle, a clear glass lid, white paper napkins, a small red cap, a white box, and stacked white patterned cups, with a grey tiled wall in the background and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white paper napkin on the counter, wipes the counter surface with the napkin in repeated circular motions, then lifts the napkin and moves it toward the left side of the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 292, "tasks": ["wipe tissue"], "length": 747, "global_instruction": "Wipe the white kitchen countertop using a paper towel", "scene_description": "A white kitchen countertop has a paper towel roll on the far left, a black insulated cup, a stack of white patterned paper cups, a clear spray bottle, a small white bowl, a small red block, an open white box, and stacks of paper cups in the background. A white robotic arm with orange accents is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm lowers to the counter, grasps a white paper towel, repeatedly wipes the countertop surface across different areas, then releases the paper towel onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 293, "tasks": ["wipe tissue"], "length": 185, "global_instruction": "Wipe the white countertop surface using a sheet of paper towel", "scene_description": "A white counter holds a roll of white paper towels on the left, a black tumbler, a stack of printed disposable cups, a clear spray bottle, a small black bowl, a red cap, a small open wooden box with yellow contents, and stacks of paper cups at the far end, with a robotic arm positioned above the far end of the counter.", "global_instruction_dense": "The right robotic arm moves downward from above the far end of the counter to contact the paper towel laid on the counter, presses the towel against the counter surface, and moves the towel repeatedly across the counter to wipe the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 294, "tasks": ["wipe tissue"], "length": 363, "global_instruction": "Push over the black insulated cup and wipe the countertop with a paper towel.", "scene_description": "A white kitchen countertop has two tall stacks of paper cups at the rear, a shorter stack of patterned white paper cups at the middle left, a small tray with colorful objects next to the shorter stack, an upright black insulated cup to the right of the stack, a single white paper cup behind the black cup, a white bowl with brown dry food and a metal spoon at the front, and a right robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down to push over the upright black insulated cup on the kitchen counter, then grasps a paper towel, uses the towel to wipe the counter surface near the fallen cup, and finally moves the paper towel away from the wiped area.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 295, "tasks": ["wipe tissue"], "length": 275, "global_instruction": "Wipe the white kitchen countertop using the white napkin.", "scene_description": "A white kitchen countertop holds stacks of printed paper cups, a small box with colorful blocks, a black jar, a white bowl with food and a spoon, and a white napkin; a grey tiled wall with a power socket is on the left, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white napkin on the countertop, then repeatedly wipes the counter surface with the napkin.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 296, "tasks": ["wipe tissue"], "length": 352, "global_instruction": "Wipe the kitchen countertop using the white paper towel.", "scene_description": "A white kitchen counter holds a white paper towel, a box with red and yellow blocks, multiple stacks of patterned disposable cups, a black insulated tumbler, and a white bowl with food and a spoon, against a grey tiled wall with a power outlet.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white paper towel on the counter, repeatedly wipes the countertop surface with the paper towel, then lifts the paper towel upward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 297, "tasks": ["wipe tissue"], "length": 280, "global_instruction": "Wipe the kitchen countertop using the white napkin placed on the counter.", "scene_description": "A white kitchen counter holds a white napkin, a black metallic tumbler, a white patterned cup, two stacks of printed disposable cups, a small box with yellow and red blocks, and a white bowl of brown food with a spoon next to a coffee machine, against a grey tiled wall.", "global_instruction_dense": "The right robotic arm moves toward the white napkin on the counter, grasps and lifts it, wipes the countertop surface with the napkin in multiple motions, then places the napkin back onto the counter and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 298, "tasks": ["wipe tissue"], "length": 356, "global_instruction": "Wipe the kitchen counter surface using the white paper towel.", "scene_description": "On a white kitchen counter, there are two white bowls of brown food (one with a metal spoon inside), a small light box with red and yellow produce, a black metal cup, two tall patterned bottles against a grey tiled backsplash, and a white paper towel in front of the bowls, with a white robotic arm with orange accents above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the white paper towel on the counter, presses it against the surface, then moves it repeatedly back and forth to wipe the kitchen counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 299, "tasks": ["wipe tissue"], "length": 542, "global_instruction": "Wipe spilled dark brown granules off the white kitchen countertop using a white paper towel.", "scene_description": "On a white kitchen countertop, two white bowls filled with dark brown granular material (one holds a metal spoon), a small light brown cardboard box, a black tumbler, two tall white cleaning bottles, and a white paper towel are placed against a grey tiled backsplash, with a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down to grasp the white paper towel on the counter, wipes the counter surface near the bowls to clean up spilled dark granules, then lifts the paper towel away from the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 300, "tasks": ["wipe tissue"], "length": 316, "global_instruction": "Wipe the kitchen counter surface using the white napkin", "scene_description": "A white kitchen counter holds two white bowls of dark cereal (one with a metal spoon), a small light wooden box with red and white contents, a black insulated cup, two stacks of white disposable cups against a grey tiled wall, and a white napkin on the counter left, with a robotic arm above the counter near the cups.", "global_instruction_dense": "The right robotic arm moves toward the white napkin on the left of the counter, grasps it, wipes the counter surface near the wall, wooden box and bowls, then places the napkin back on the left side of the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 301, "tasks": ["wipe tissue"], "length": 404, "global_instruction": "Wipe the right section of the kitchen countertop using the white paper napkin, then place the napkin on the left counter.", "scene_description": "A white kitchen counter with a grey tiled backsplash holds a white paper napkin, a small red round object, two white bowls of dark brown food (one with a metal spoon), a light brown open cardboard box, a black tumbler, and two stacks of white patterned disposable cups at the back right, with a robotic arm positioned near the cups.", "global_instruction_dense": "The left robotic arm moves from near the disposable cup stacks toward the white paper napkin on the left section of the counter, grasps the napkin, repeatedly moves it across the right section of the counter to wipe the surface, then moves the napkin to the left side of the counter and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 302, "tasks": ["wipe tissue"], "length": 330, "global_instruction": "Wipe the white kitchen counter surface using the folded white napkin.", "scene_description": "A white kitchen counter holds a folded white napkin on the left, two white bowls with dark food, a small red apple-shaped object between the bowls, a beige open box behind the bowls, a black tumbler, and two stacks of printed white paper cups at the back right, with a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves down to grasp the folded white napkin on the left of the counter, lifts and moves the napkin to the right side of the counter to wipe the surface repeatedly, then moves the napkin left to the area near the bowls to wipe the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 303, "tasks": ["wipe tissue"], "length": 322, "global_instruction": "Wipe the white countertop using the folded white napkin.", "scene_description": "A white countertop holds two white bowls of brown food, a small red cap, a folded white napkin, a cardboard box, a black tumbler, and stacked paper cups against a grey tiled wall, with a robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves toward the folded white napkin on the counter, grasps it, moves it repeatedly across the counter surface to wipe the area, then releases the napkin back onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 304, "tasks": ["wipe tissue"], "length": 238, "global_instruction": "Wipe the kitchen countertop using the white napkin.", "scene_description": "A white kitchen counter holds two white bowls with dark brown beans, a light wooden box with a red sticker, a small black canister, stacks of printed paper cups against a grey tiled wall, a flat white napkin, and a small red object at the lower left, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves down toward the white napkin on the counter, grasps it, moves it across the counter surface in multiple wiping motions, then releases the napkin back onto the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 305, "tasks": ["wipe tissue"], "length": 282, "global_instruction": "Wipe the kitchen counter using a white napkin then place the napkin between the two bowls.", "scene_description": "A white kitchen counter holds two white bowls with brown food pellets, a small beige open box, a black cylindrical cup, two stacks of patterned white paper cups, folded white napkins, and a red lid at the lower left, with a robotic arm positioned above the counter's right side.", "global_instruction_dense": "The right robotic arm moves down to grasp a white napkin on the kitchen counter, wipes the counter surface near the right bowl of brown pellets repeatedly, then moves the napkin to the space between the two bowls and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 306, "tasks": ["wipe tissue"], "length": 338, "global_instruction": "Wipe the right section of the white kitchen countertop using a white paper napkin", "scene_description": "On a white kitchen countertop, two white bowls with brown granular food sit left of center, a light brown open box is between them and a small black cylindrical container further right, two stacks of white disposable cups stand against the grey tiled backsplash, two folded white napkins are in front of the left bowl, and a red cap rests at the bottom left of the counter.", "global_instruction_dense": "The right robotic gripper moves down to grasp a folded white paper napkin from the left side of the counter, moves it to the right section of the counter, wipes the surface back and forth repeatedly, then moves the used napkin back to the left side of the counter and releases it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 307, "tasks": ["wipe tissue"], "length": 160, "global_instruction": "Wipe the kitchen countertop using a white napkin.", "scene_description": "A white kitchen countertop has a stainless steel sink with two red-interior white mugs, green-cap dish soap, blue sponge, clear glass bottle, white tissue box, white paper towel roll, two white bowls, and a white box containing red and yellow items, with a Franka robotic arm on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the white napkin on the counter, presses the napkin to wipe the counter surface, then grasps and moves the napkin toward the right side of the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 308, "tasks": ["wipe tissue"], "length": 348, "global_instruction": "Move the white bowl of dark food aside, then wipe the exposed counter area with a paper towel.", "scene_description": "A white kitchen counter holds a stainless steel sink with a silver faucet, two red-and-white mugs in the sink, a white bowl of dark food near the sink, a blue sponge, a green-capped clear bottle, a clear spray bottle, a stack of white tissues, a white paper towel roll, a beige bottle, and a white robotic arm with orange accents above the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white bowl of dark food, grasps it, lifts and shifts it to a new left position on the counter, releases it, then picks up a paper towel, wipes the exposed counter area repeatedly, and finally lifts the used paper towel away.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 309, "tasks": ["wipe tissue"], "length": 437, "global_instruction": "Wipe the white table surface with a tissue and place the used tissue into the beige tissue box.", "scene_description": "A white office table holds a beige square tissue box, dark blue mug, bright orange funnel, white tissues, and assorted desk items, with a robotic arm at the upper right, light gray office chairs to the left of the table, and a wooden panel wall in the background.", "global_instruction_dense": "The right robotic arm moves down toward the white table, grasps a white tissue on the table, wipes the table surface with the tissue, then moves the tissue to the beige tissue box, places it inside, and moves upward away from the box.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 310, "tasks": ["wipe tissue"], "length": 520, "global_instruction": "Use the right robotic arm to wipe the desk and adjust the position of the red circular object.", "scene_description": "A white office desk holds a dark blue mug, an orange funnel, an open beige box, a red circular device on a white dish, a stack of white tissues, and small loose items. White office chairs line the wood-paneled left wall, computer equipment sits at the far end of the desk, and a robotic arm is mounted on the desk's right edge.", "global_instruction_dense": "The right robotic arm lowers from its initial raised position, grasps a white tissue from the desk, manipulates the red circular object in the white dish, moves the tissue beside the open beige box, and finally positions itself near the dark blue mug on the desk.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 311, "tasks": ["wipe tissue"], "length": 554, "global_instruction": "Wipe the white table surface using the white napkin next to the blue bowl.", "scene_description": "On a white office table, a blue bowl filled with colorful small items, a white mug, a dark green mug with an orange object inside, yellow sticky notes, a small silver cube, and a clear square container are arranged, with a white and black robotic arm positioned at the table's right side and a wooden panel wall to the left.", "global_instruction_dense": "The right robotic arm moves leftward and downward to the white napkin next to the blue bowl, grasps the napkin with its gripper, then moves the napkin back and forth across the white table surface to wipe the area near the bowl.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 312, "tasks": ["wipe tissue"], "length": 775, "global_instruction": "Wipe the white table surface using a white tissue", "scene_description": "A white table holds a blue bowl of multicolored small items, a white mug, a small black ring, a tiny yellow cube, a clear tissue box, loose white tissues, and a dark gray printed mug; a right robotic arm is at the far end of the table, with office chairs and a wooden wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the loose white tissues on the table, grasps one tissue, performs repeated wiping motions across the table surface, adjusts the tissue as it wipes, then lifts the tissue above the table after finishing.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 313, "tasks": ["wipe tissue"], "length": 338, "global_instruction": "Wipe the white table surface using a white napkin.", "scene_description": "A white table holds a blue bowl of multicolored beads, a white mug, stacked white napkins, a black mug, and a small white cube, with white chairs against a wooden panel wall in the background and a robotic arm at the table's right end.", "global_instruction_dense": "The right robotic arm moves downward toward the stacked white napkins on the table, grasps one napkin, moves it repeatedly across the table surface to wipe it, then lifts the napkin upward away from the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 314, "tasks": ["wipe tissue"], "length": 517, "global_instruction": "Wipe the white table surface using the white napkin", "scene_description": "A white table holds a white cup, a blue bowl of colorful small items, a yellow cube, a stack of white napkins, a dark blue mug, and a white box from left to right; a robotic arm is positioned at the right end of the table, with an office background of wooden walls and chairs.", "global_instruction_dense": "The right robotic arm moves toward the stack of white napkins on the table, grasps one napkin, then repeatedly moves the napkin across the white table surface to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 315, "tasks": ["wipe tissue"], "length": 223, "global_instruction": "Wipe the white table surface using the white tissue placed on the table.", "scene_description": "A white office table holds a blue bowl of multicolored cereal, a white mug, a black mug, yellow sticky notes, a white tissue box, and a flat white tissue, with a robotic arm at the right of the table, office chairs and workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the white tissue on the table, grasps the tissue, then moves it repeatedly back and forth across the white table surface to wipe the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 316, "tasks": ["wipe tissue"], "length": 391, "global_instruction": "Wipe the table surface with the white napkin", "scene_description": "A white table holds a blue bowl filled with multicolored small items, a white ceramic mug, a dark green ceramic mug, and a white napkin, with a robotic arm at the right side of the table and office chairs plus a wooden wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the white napkin on the table, grasps it, performs repeated wiping motions across the table surface, then releases the napkin back onto the table.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 317, "tasks": ["wipe tissue"], "length": 1906, "global_instruction": "Wipe the kitchen counter surface using a paper towel, then dispose of the used paper towel.", "scene_description": "A white robotic arm with gray accents is positioned left of a dark kitchen counter. On the counter, an upright purple hand soap bottle, white paper towel roll, clear plastic container, silver electric kettle, and black dish rack are visible. Above the counter are wooden cabinets, and to the right is a stainless steel sink holding a white mug, green bowl, and yellow cleaning sponge. A whiteboard with papers is behind the robotic arm.", "global_instruction_dense": "The left robotic arm pulls a paper towel from the roll on the kitchen counter, uses it to wipe the counter surface in repeated motions, then lifts the used paper towel and drops it into the clear plastic container on the counter.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 318, "tasks": ["wipe tissue"], "length": 527, "global_instruction": "Wipe the dark grey kitchen counter using the light brown napkin.", "scene_description": "A dark grey kitchen counter holds a beige woven basket, silver microwave on the right, light brown paper napkin near the sink, assorted small containers and kitchen appliances adjacent to the sink, with a white robotic arm positioned above the counter near the sink area.", "global_instruction_dense": "The right robotic arm moves toward the light brown napkin on the kitchen counter, grasps it, and repeatedly slides it back and forth across the counter surface to wipe it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 319, "tasks": ["wipe tissue"], "length": 769, "global_instruction": "Wipe the gray kitchen counter surface using the white paper napkin.", "scene_description": "A gray kitchen counter holds a white paper napkin, a red container with assorted vegetables, a blue bowl with a light brown pear and red fruit, a light yellow woven basket, a silver toaster, and a silver microwave on the right; light wooden cabinets are mounted above the counter, and a coffee machine sits on the left side of the counter.", "global_instruction_dense": "The right robotic gripper grasps the white paper napkin from the gray kitchen counter, then moves the napkin across the left, middle, and right sections of the counter in repeated wiping motions to clean the surface.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 320, "tasks": ["wipe tissue"], "length": 654, "global_instruction": "Wipe the countertop surface using the beige napkin.", "scene_description": "A dark gray countertop holds a stacked beige napkin, orange carrot, yellow container topped with a white bowl holding a green bell pepper, green bowl, assorted fruits on the left, and a woven basket with a knife and red strawberry on the right; two robotic arms are positioned at the left edge of the counter, with large windows and seating in the background.", "global_instruction_dense": "The right robotic gripper moves to grasp the stacked beige napkin from the countertop, lifts it, moves it repeatedly across the countertop surface near the green bowl to wipe the area, then places the napkin back on the counter near the yellow container.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 321, "tasks": ["wipe tissue"], "length": 590, "global_instruction": "Wipe the section of kitchen counter near the dish rack using a paper towel.", "scene_description": "A dark grey kitchen counter holds a stainless steel sink filled with dishes, a dish rack with stacked dishes left of the sink, a gas stove right of the sink, dish soap and cleaning supplies next to the sink, white papers on the far left of the counter, and a right robotic arm positioned above the left counter area.", "global_instruction_dense": "The right robotic arm moves down to grasp a paper towel on the left counter, moves the paper towel across the counter near the dish rack to wipe the surface, places the used paper towel on the counter, and retracts upward to its original position.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 322, "tasks": ["wipe tissue"], "length": 471, "global_instruction": "Wipe the wooden table surface using the white paper towel", "scene_description": "A light wooden table in front of the robot holds a white paper towel, a red plastic bowl, a white bowl with a smaller red cup inside, a yellow bowl, a clear bowl with yellow liquid, and a white pen cup. A yellow caution sign sits to the right of the table, and the robot's left arm is visible on the left side of the view.", "global_instruction_dense": "The left robotic arm moves downward toward the white paper towel on the wooden table, grasps and lifts the paper towel, then moves it repeatedly across the table surface near the clear yellow liquid bowl to wipe the area.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 323, "tasks": ["wipe tissue"], "length": 371, "global_instruction": "Wipe the wooden table surface using the white paper towel.", "scene_description": "A light wooden table holds a white bowl with a small red container inside, a large red bowl to its right, a clear container of yellow liquid, a white paper towel, and several bowls further back. A white robotic arm is to the left of the table, with a yellow caution sign in the background.", "global_instruction_dense": "The right robotic arm moves toward the white paper towel on the wooden table, grasps it, and repeatedly wipes the table's surface with the towel.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 324, "tasks": ["wipe tissue"], "length": 330, "global_instruction": "Wipe the wooden table surface using the white paper towel", "scene_description": "A wooden worktable holds a white bowl with a red scoop, a red bowl with a glass rod, a yellow container, a white paper towel, and small items, with a left robotic arm positioned above the table and a yellow CAUTION sign in the background.", "global_instruction_dense": "The left robotic arm moves toward the white paper towel on the wooden table, grasps it, and moves it across the table surface to wipe the area.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 325, "tasks": ["wipe tissue"], "length": 721, "global_instruction": "Wipe the kitchen counter using a paper towel and dispose of the used towel in the sink.", "scene_description": "A white robotic arm is positioned on the left side of a kitchen counter, a stainless steel sink is at the counter center, two white paper sheets sit on the counter to the right of the sink, a yellow sponge is inside the sink, a clear soap dispenser and green-nozzled bottle are next to the sink, and green and red plastic bowls rest on the gas stove to the sink's right, with light brown wooden cabinets above the counter.", "global_instruction_dense": "The left robotic arm grasps a white paper towel from the counter next to the sink, wipes the counter surface near the sink, moves the towel over the sink to dampen it, wipes the counter a second time, then moves the used towel over the sink and releases it into the sink.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 326, "tasks": ["wipe tissue"], "length": 1342, "global_instruction": "Pour contents from the small red and white bottle into the clear bowl, then wipe the kitchen counter with the white paper towel.", "scene_description": "A dark grey kitchen counter holds a small clear plastic bowl with leftover contents, a red stationery holder, a silver electric kettle, a black dish drying rack, and a white paper towel sheet next to a stainless steel sink (with a white mug and green cup inside). Light brown wooden cabinets are mounted above the counter, a whiteboard with pinned documents is on the left wall, and a white robotic arm is positioned at the left side of the counter.", "global_instruction_dense": "The right robotic arm reaches for and grasps the small red and white bottle on the dark kitchen counter, pours its contents into the nearby clear plastic bowl, places the bottle back on the counter, moves to grasp the white paper towel near the sink, then repeatedly wipes the counter surface with the paper towel to clean it.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 327, "tasks": ["wipe tissue"], "length": 1913, "global_instruction": "Wipe the dark kitchen countertop using the white paper towel, repositioning the purple spray bottle during the cleaning process.", "scene_description": "A dark kitchen counter holds a purple spray bottle, a white paper towel, and a silver electric kettle; wooden upper cabinets are above the counter, a stainless steel sink with mugs is on the right, and a white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm lowers to contact the white paper towel on the counter, moves the paper towel in wiping motions across the counter surface, picks up the purple spray bottle and moves it to a new position on the counter, then resumes wiping the counter with the paper towel until the end of the sequence.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
+{"episode_index": 328, "tasks": ["wipe tissue"], "length": 1579, "global_instruction": "Wipe the black kitchen counter using the white paper towel placed on the counter.", "scene_description": "A black kitchen counter holds a flat white paper towel on its left side, a purple pump bottle near the center, a small red object, silver electric kettle, and dish rack toward the back; a stainless steel sink containing a white mug and green cup sits on the counter's right, upper wooden cabinets and a paper-covered whiteboard are in the background, and a white robotic arm is positioned above the counter to the left of the paper towel.", "global_instruction_dense": "The left robotic arm lowers to grasp the white paper towel on the black kitchen counter, lifts it, moves the towel across the counter surface to wipe it, knocks over the purple pump bottle on the counter during wiping, and continues wiping the counter afterward.", "skill": "Wipe / Clean", "verb": "wipe", "object": "tissue", "object_category": "Sanitation & Personal Care"}
diff --git a/datasets/droid/data/wipe__tissue/meta/episodes_stats.jsonl b/datasets/droid/data/wipe__tissue/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..94b378fdb29e16b8844e172658dd2a80f56a93e9
--- /dev/null
+++ b/datasets/droid/data/wipe__tissue/meta/episodes_stats.jsonl
@@ -0,0 +1,329 @@
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diff --git a/datasets/droid/data/wipe__tissue/meta/info.json b/datasets/droid/data/wipe__tissue/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a02aacd876afa0d65ae918b89bb4bb95260b640
--- /dev/null
+++ b/datasets/droid/data/wipe__tissue/meta/info.json
@@ -0,0 +1,255 @@
+{
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+  "fps": 30,
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+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+      ],
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+        "width",
+        "rgb"
+      ],
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+        "video.codec": "av1",
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+    },
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+        "video.codec": "av1",
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+      }
+    },
+    "observation.images.wrist": {
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+        640,
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+        "width",
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+        "video.channels": 3,
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false
+      }
+    }
+  },
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+  "scene_category": "抽象/桌面实验 (General Tabletop/Lab Bench)",
+  "camera_mapping": {
+    "observation.images.ext1": "external_1",
+    "observation.images.ext2": "external_2",
+    "observation.images.wrist": "right_wrist"
+  }
+}
\ No newline at end of file
diff --git a/datasets/droid/data/wipe__tissue/meta/stats.json b/datasets/droid/data/wipe__tissue/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f957c1527cf8bd55611d60a3b83fa07124ff2ed
--- /dev/null
+++ b/datasets/droid/data/wipe__tissue/meta/stats.json
@@ -0,0 +1,761 @@
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