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+{"episode_index": 0, "tasks": ["place spoon"], "length": 346, "global_instruction": "Retrieve the spoon from the black bowl, move it over the white plate, and return it to the bowl.", "scene_description": "A light brown wooden table holds an orange oval object, green oval object, small orange cup, white plate with two yellow blocks and two dark green cubes, black bowl, white plastic bag with red stripes, crumpled clear bag, white storage bin with pink interior, and small blue item. A right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm lowers toward the black bowl on the table, grasps the spoon inside, lifts the spoon, moves it over the white plate, returns it to the black bowl, and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 1, "tasks": ["place spoon"], "length": 330, "global_instruction": "Remove the white spoon from the yellow mug and place it back into the mug with its purple handle end inside.", "scene_description": "A white table holds two stacked books on its left side and a yellow black-rimmed mug with a white spoon (purple handle end) inside on its right side; a black monitor sits behind the books, a black trash bin is on the light wooden floor to the left of the table, with white walls in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow mug, grasps the exposed white part of the spoon inside it, lifts the spoon out of the mug and exits the frame, then returns holding the spoon by its white section, moves over the mug, and releases the spoon so its purple handle end rests inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 2, "tasks": ["place spoon"], "length": 193, "global_instruction": "Place a spoon onto the wooden table next to the white mug.", "scene_description": "A light wooden table sits next to a white table on the left that holds a black-and-white keyboard, a white mug rests on the right side of the wooden table, with a dark monitor in the background.", "global_instruction_dense": "The right robotic arm holds a spoon, moves it over the wooden table near the white mug, releases the spoon so it lands on the table, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 3, "tasks": ["place spoon"], "length": 215, "global_instruction": "Place a spoon onto the light wooden table", "scene_description": "A light wooden table is positioned centrally, a white table to its left holds a white-framed keyboard with black keys, a white cup rests on the right end of the wooden table, and a dark monitor is in the background.", "global_instruction_dense": "The right robotic gripper enters the scene from the upper right holding a spoon, moves downward to the wooden table surface, releases the spoon onto the table, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 4, "tasks": ["place spoon"], "length": 220, "global_instruction": "Pick up the white-handled spoon on the wooden table and place it into the white cup", "scene_description": "A light wooden table has a white-handled spoon and a white cup on its right, with a white table holding a keyboard and transparent circular tray to its left.", "global_instruction_dense": "The right robotic arm moves toward the white-handled spoon on the wooden table, grasps it, lifts it, moves it over the white cup, lowers it into the cup, releases the spoon, and lifts away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 5, "tasks": ["place spoon"], "length": 218, "global_instruction": "Place a spoon onto the wooden table.", "scene_description": "A light wooden table is in the center, a white table with a black-and-white keyboard and a white circular plate is to its left, a white cup sits on the right of the wooden table, and a dark screen is in the background.", "global_instruction_dense": "The right robotic gripper holding a spoon moves downward toward the wooden table, lowers the spoon onto the table surface, releases the spoon, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 6, "tasks": ["place spoon"], "length": 202, "global_instruction": "Place a spoon onto the light wooden table.", "scene_description": "A light wooden table is in the foreground, a white table to its left holds a black-and-white grid calibration board, a dark monitor is in the background, and small paper items are on the right edge of the wooden table.", "global_instruction_dense": "The right robotic gripper enters the frame from the right holding a spoon, moves the spoon over the wooden table, releases it onto the table surface, then retracts out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 7, "tasks": ["place spoon"], "length": 202, "global_instruction": "Place a spoon onto the light wooden tabletop.", "scene_description": "A light wooden table is positioned to the right of a white table that holds a black-and-white grid keyboard, a clear circular object, and a green pen, with a dark monitor behind both tables.", "global_instruction_dense": "The right robotic arm holding a spoon enters the frame from the right, lowers the spoon onto the light wooden table, releases the spoon, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 8, "tasks": ["place spoon"], "length": 272, "global_instruction": "Place a metal spoon onto the light wooden table.", "scene_description": "A light wooden table is on the right, a white table on the left holds a black-and-white keycap tray, transparent plastic lid, green pen, and gray cylindrical container. A dark monitor stands between the tables with papers below it, and a small packaged item sits at the right end of the wooden table.", "global_instruction_dense": "The right robotic gripper carries a metal spoon to the right side of the light wooden table, then releases the spoon to drop it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 9, "tasks": ["place spoon"], "length": 446, "global_instruction": "Grasp the metal spoon on the wooden table, reposition it, then place it back on the table.", "scene_description": "A light yellow wooden table is at the center, a white table sits to its left with a black-and-white grid keyboard, a transparent plastic lid, and a gray cylindrical object on it; a metal spoon and a green tissue pack are placed on the right section of the wooden table.", "global_instruction_dense": "The right robotic gripper enters the frame from the right, grasps the metal spoon on the right side of the wooden table, lifts and shifts the spoon slightly, releases it onto the wooden table, then exits the visible frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 10, "tasks": ["place spoon"], "length": 239, "global_instruction": "Take the spoon out of the white mug and place it on the wooden tabletop.", "scene_description": "A light wooden table is in the center, with a white mug holding a spoon on its right side. To the left of the wooden table is a white desk with a black-and-white calibration board, a transparent disc, a green pen, and a dark cylindrical object, with a dark monitor in the background.", "global_instruction_dense": "The right robotic arm enters the frame from the upper right, approaches the white mug, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon to the right side of the wooden table, lowers and releases the spoon onto the table, then retracts out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 11, "tasks": ["place spoon"], "length": 251, "global_instruction": "Place a spoon into the white mug on the light wooden table.", "scene_description": "A light wooden table with a white printed mug on its right sits next to a white table holding a black and white keyboard atop a book, with a dark monitor in the background.", "global_instruction_dense": "The right robotic gripper holds a spoon, moves into the frame from the top right, lowers the spoon into the white mug on the wooden table, releases the spoon, then moves upward out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 12, "tasks": ["place spoon"], "length": 313, "global_instruction": "Place a spoon into the white mug on the wooden table", "scene_description": "A light wooden table and a white table are positioned side by side. A white mug rests on the right end of the wooden table, a black and white keyboard sits on the white table, and a dark monitor is in the background.", "global_instruction_dense": "The right robotic gripper holding a spoon moves into the frame from the right, lowers the spoon over the white mug, releases the spoon into the mug, then lifts upward away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 13, "tasks": ["place spoon"], "length": 234, "global_instruction": "Take the spoon out of the white mug and place it on the wooden table", "scene_description": "A light wooden table, an adjacent white table, a white mug with a spoon inside it, a white-framed black-key keyboard, and a black monitor are present. The white mug is on the right of the wooden table, the keyboard rests on the white table left of the wooden table, and the monitor is in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white mug on the right of the wooden table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it over the wooden table, and releases it to place the spoon on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 14, "tasks": ["place spoon"], "length": 223, "global_instruction": "Place the white-handled spoon into the white mug on the wooden table", "scene_description": "A light wooden table has a white printed mug on its right side, and a white-handled metal spoon on the table left of the mug. A white table with a black-and-white keyboard sits left of the wooden table, with a dark monitor in the background.", "global_instruction_dense": "The right robotic arm moves toward the white-handled spoon on the wooden table, grasps it, lifts it, moves it over the white mug, lowers the spoon into the mug, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 15, "tasks": ["place spoon"], "length": 239, "global_instruction": "Take the spoon out of the white mug and place it on the wooden table", "scene_description": "A light wooden table is next to a white table. A white mug with a spoon inside sits on the right of the wooden table. A white-frame black-key keyboard rests on the white table, with a dark monitor in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the wooden table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it over the wooden table, releases the spoon onto the table, and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 16, "tasks": ["place spoon"], "length": 204, "global_instruction": "Pick up the white-handled spoon and place it into the white mug on the wooden table.", "scene_description": "A light wooden table holds a white mug on its right side and a white-handled metal spoon at its center. A white table to the left holds a grid-patterned keyboard-like object, with a dark monitor in the background.", "global_instruction_dense": "The right robotic arm moves toward the white-handled spoon on the wooden table, grasps it with its gripper, lifts the spoon, moves it over the white mug, releases the spoon into the mug, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 17, "tasks": ["place spoon"], "length": 131, "global_instruction": "Take the spoon out of the white mug and place it on the wooden table.", "scene_description": "A light wooden table has a white mug with a white-handled spoon inside on its right. To its left is a white table with a keyboard on stacked items, with a black monitor in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white mug on the wooden table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon over the wooden table, then releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 18, "tasks": ["place spoon"], "length": 223, "global_instruction": "Pick up the spoon on the wooden table and place it into the white mug.", "scene_description": "A light wooden table has a metal spoon with a white handle on its right half, and a white printed mug on the far right. A white desk with a black-and-white keyboard is to the left of the wooden table, with a dark monitor in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the spoon on the wooden table, grasps the spoon, lifts it, moves it over the white mug, lowers the spoon into the mug, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 19, "tasks": ["place spoon"], "length": 155, "global_instruction": "Remove the spoon from the white mug and place it on the wooden tabletop.", "scene_description": "A light wooden table has a white mug with a white-handled spoon inside it on its right side. To the left of the wooden table is a white desk holding a keyboard stacked on books, with a dark monitor in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white mug on the right of the wooden table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon over the table surface, then releases the spoon onto the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 20, "tasks": ["place spoon"], "length": 201, "global_instruction": "Pick up the white-handled spoon and place it into the white printed mug", "scene_description": "A light wooden table has a white printed mug and a white-handled spoon on its right; a white table to its left holds a keyboard on stacked books and a transparent lid.", "global_instruction_dense": "The right robotic gripper moves down toward the white-handled spoon on the wooden table, grasps it, lifts it, moves it over the white printed mug, lowers it into the mug, releases the spoon, and pulls away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 21, "tasks": ["place spoon"], "length": 262, "global_instruction": "Place the white-handled spoon on the wooden table into the white mug.", "scene_description": "A light wooden table has a white printed mug and a white-handled metal spoon on its right side. To the left of the wooden table is a white table with a keyboard on stacked books and a clear plastic lid, with a dark panel in the background.", "global_instruction_dense": "The right robotic gripper descends toward the white-handled metal spoon on the wooden table, grasps the spoon, lifts it, moves it over the white mug, lowers the spoon into the mug, releases it, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 22, "tasks": ["place spoon"], "length": 234, "global_instruction": "Remove the spoon from the white mug and place it on the wooden table", "scene_description": "A light wooden table is adjacent to a white side table. A white ceramic mug with a white-handled spoon inside sits on the right of the wooden table. The white side table holds a keyboard stacked on books and a transparent plastic lid, with a dark monitor in the background.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves to the white mug, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon to the wooden table area left of the mug, lowers the spoon, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 23, "tasks": ["place spoon"], "length": 244, "global_instruction": "Pick up the white-handled spoon and place it into the white ceramic mug", "scene_description": "A light wooden table holds a white ceramic mug, a metal spoon with a white handle, and a book at its right edge. To the left of the wooden table is a white table with stacked books and a clear plastic lid, with dark furniture in the background.", "global_instruction_dense": "The right robotic arm moves into the frame, lowers to grasp the white-handled metal spoon on the wooden table, lifts the spoon, moves it over the white mug, lowers the spoon into the mug, releases it, then moves out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 24, "tasks": ["place spoon"], "length": 161, "global_instruction": "Take the spoon out of the white mug and place it on the wooden table.", "scene_description": "A light wooden table is adjacent to a white side table. A white mug with a white-handled spoon inside sits on the wooden table, a book rests on the right end of the wooden table. A keyboard is on stacked books on the white side table, with a transparent circular lid also on the side table.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the wooden table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it over the wooden table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 25, "tasks": ["place spoon"], "length": 230, "global_instruction": "Place the white-handled spoon into the white mug on the wooden table", "scene_description": "A light wooden table holds a white mug, a white-handled metal spoon, and a book on its right side. To the left of the wooden table is a white table with a keyboard stacked on books and a white round lid, with a dark screen in the background.", "global_instruction_dense": "The right robotic gripper descends toward the white-handled spoon on the wooden table, grasps the spoon, lifts and moves it above the white mug, lowers the spoon into the mug, then releases it and moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 26, "tasks": ["place spoon"], "length": 192, "global_instruction": "Take the spoon out of the white mug and place it on the wooden table", "scene_description": "A light wooden table holds a white mug with a spoon inside, and a book to the right of the mug. To the left of the wooden table is a white side table with stacked books (one with a black grid-patterned cover) and a round transparent container.", "global_instruction_dense": "Right robotic gripper moves toward the spoon inside the white mug on the wooden table, grasps the spoon, lifts it out of the mug, moves it to the right of the mug over the table, and releases it onto the wooden tabletop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 27, "tasks": ["place spoon"], "length": 214, "global_instruction": "Place the white-handled spoon into the white mug on the wooden table", "scene_description": "A light wooden table holds a white mug, a white-handled metal spoon, and a dark-covered book. To the left of the wooden table is a white table with a keyboard atop stacked books, with a dark screen behind the tables.", "global_instruction_dense": "The right robotic gripper enters from the upper right, moves to the spoon on the wooden table, grasps it, lifts it, moves it over the white mug, and lowers it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 28, "tasks": ["place spoon"], "length": 264, "global_instruction": "Remove the spoon from the white mug and place it on the wooden table.", "scene_description": "A light wooden table holds a white mug with a spoon inside, and a book to the mug's right. A white table to the left holds stacked books topped with a keyboard, with a dark cabinet in the background.", "global_instruction_dense": "The right robotic gripper moves toward the spoon in the white mug, grasps the spoon, lifts it out of the mug, moves it to the right of the mug, lowers it onto the wooden table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 29, "tasks": ["place spoon"], "length": 357, "global_instruction": "Pick up the white-handled spoon and place it into the white mug", "scene_description": "A light wooden table has a white mug, a white-handled spoon, and a book on its right side. To the left of this table is a white table with a keyboard on stacked books and a clear plastic lid.", "global_instruction_dense": "The right robotic arm moves down to the white-handled spoon on the wooden table, grasps the spoon, lifts it, moves it over the white mug, and releases the spoon into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 30, "tasks": ["place spoon"], "length": 283, "global_instruction": "Take the white-handled spoon from the white mug and place it on the wooden table.", "scene_description": "A light wooden table holds a white mug with a white-handled spoon inside and a book on its right edge. To the left of the wooden table is a white side table with stacked books (one has a keyboard-patterned cover) and a clear plastic lid on top.", "global_instruction_dense": "The right robotic gripper moves toward the white mug on the wooden table, grasps the white-handled spoon inside the mug, lifts the spoon out of the mug, moves it rightward over the wooden table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 31, "tasks": ["place spoon"], "length": 317, "global_instruction": "Place the silver spoon with white handle into the white mug on the wooden table", "scene_description": "A light wooden table holds a white mug, a silver spoon with a white handle, and a stack of books on its right side. To the left of the wooden table is a white desk with a keyboard on stacked books and a round transparent object.", "global_instruction_dense": "The right robotic gripper moves toward the silver spoon with white handle on the right of the wooden table, grasps the spoon, lifts and moves it over the white mug, releases the spoon into the mug, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 32, "tasks": ["place spoon"], "length": 239, "global_instruction": "Take the white-handled spoon out of the white mug and place it on the wooden table", "scene_description": "A light wooden table holds a white ceramic mug with a white-handled spoon inside it, and a book to the mug's right. To the left of the wooden table is a white side table with stacked books and a keyboard on its surface.", "global_instruction_dense": "The right robotic gripper moves toward the white mug on the wooden table, grasps the white-handled spoon inside the mug, lifts the spoon out of the mug, moves it over the table surface, and releases it to rest on the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 33, "tasks": ["place spoon"], "length": 272, "global_instruction": "Pick up the metal spoon from the wooden table and place it into the white cup.", "scene_description": "A light wooden table is on the right, holding a metal spoon with white handle, a green-covered colorful book, and a white cup. A white table on the left has stacked books with a keyboard-pattern top book.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the wooden table, grasps it, lifts and moves it to the white cup, then releases the spoon into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 34, "tasks": ["place spoon"], "length": 223, "global_instruction": "Place a metal spoon on the light wooden table surface.", "scene_description": "A light wood-grain table is adjacent to a white table on the left. The wooden table has a small book with multicolored page edges and a white pen container on its right side; the white table holds a keyboard stacked on books and a clear round plastic lid.", "global_instruction_dense": "The right robotic gripper enters the frame from the upper right holding a metal spoon, lowers the spoon toward the wooden table, releases the spoon to rest on the table, then lifts upward away from the spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 35, "tasks": ["place spoon"], "length": 597, "global_instruction": "Pick up the white-handled spoon from the wooden table, place it into the white cup, use the spoon to add contents to the cup, then place the spoon into the white cup.", "scene_description": "A light wooden table sits next to a white side table. The white side table holds stacked books with a black-and-white grid-patterned cover and a transparent plastic lid. On the wooden table, there is a green-covered book with colorful edge tabs, a small white-handled metal spoon, and a white cylindrical cup, with the cup on the far right, the tabbed book left of the cup, and the spoon left of the book. A black screen is in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the white-handled spoon on the wooden table, grasps it, lifts it, moves it to the white cup, releases it into the cup, moves away, then moves toward the white cup to retrieve the spoon, uses it to add contents into the cup, then places the spoon into the cup and exits the frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 36, "tasks": ["place spoon"], "length": 561, "global_instruction": "Place the white spoon into the mug, then place a metal spoon on the wooden table.", "scene_description": "A light wooden table holds a small tabbed book, a white ceramic mug, and a white plastic spoon. To the left of the wooden table is a white table topped with stacked books and a grid keypad.", "global_instruction_dense": "The right robotic arm moves to the white spoon on the wooden table, grasps and lifts it, places the white spoon into the white ceramic mug, then retrieves a metal spoon, moves it over the table, and places the metal spoon next to the tabbed book on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 37, "tasks": ["place spoon"], "length": 360, "global_instruction": "Place the silver spoon next to the white mug into the mug", "scene_description": "A light wooden table is at the center, with a white mug and silver spoon on its right side. A white side table on the left holds stacked books with a keyboard on top, no robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves toward the silver spoon on the wooden table, grasps the spoon, lifts it, moves it above the white mug, lowers the spoon into the mug, releases it, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 38, "tasks": ["place spoon"], "length": 295, "global_instruction": "Take the white spoon out of the white mug and place it on the wooden table", "scene_description": "A light wooden table holds a white mug with a white spoon inside it on its right side. To the left of the wooden table is a white desk with a keyboard and a round plastic container on top.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the wooden table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it over the wooden table surface next to the mug, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 39, "tasks": ["place spoon"], "length": 329, "global_instruction": "Place the white-handled metal spoon into the white mug on the wooden table.", "scene_description": "A light yellow wooden table is at the center, with a white mug on its right and a white-handled metal spoon near the mug. A white table with a black keyboard stacked on books is to the left of the wooden table.", "global_instruction_dense": "The robotic gripper descends to the spoon on the wooden table, grasps the spoon, lifts it, moves it rightward over the white mug, lowers the spoon into the mug, releases it, then retracts out of view.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 40, "tasks": ["place spoon"], "length": 309, "global_instruction": "Take the white spoon out of the white mug and place it on the wooden table beside the mug.", "scene_description": "A light wooden table has a white mug with a white spoon inside on its right side. A smaller white table to the left of the wooden table holds a keyboard stacked on books and a transparent circular object.", "global_instruction_dense": "The right robotic gripper moves into view above the wooden table, lowers toward the white spoon inside the white mug, grasps the spoon, lifts it out of the mug, moves it to the table surface next to the mug, releases the spoon onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 41, "tasks": ["place spoon"], "length": 195, "global_instruction": "Place the white-handled spoon on the wooden table into the white printed mug.", "scene_description": "A light wooden table holds a white printed mug, a white-handled metal spoon, and a black glove at the back right; a white side table on the left holds a keyboard stacked on books and a transparent plastic lid, with a dark monitor in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the white-handled spoon on the light wooden table, grasps the spoon, lifts it, moves it above the white printed mug, lowers and releases the spoon into the mug, then moves back out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 42, "tasks": ["place spoon"], "length": 251, "global_instruction": "Remove the spoon from the white mug and place it on the wooden table next to the mug.", "scene_description": "A light wooden table has a white mug with a white spoon inside it on its right side, and a black glove on the far right of the table. A white side table to the left of the wooden table holds stacked books (one with a black and white keyboard-patterned cover) and a round clear plastic container, with a large dark monitor in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the wooden table, grasps the spoon inside the mug, lifts the spoon out of the mug, lowers the spoon to the table surface next to the mug, releases the spoon, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 43, "tasks": ["place spoon"], "length": 209, "global_instruction": "Take the spoon out of the white mug and place it on the wooden table.", "scene_description": "A light yellow wooden table has a white mug with a white spoon inside it on its right side, and a white side table to the left of the wooden table holding stacked books and a keyboard-like object.", "global_instruction_dense": "The right robotic arm moves down to the white mug on the wooden table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it over the wooden table surface next to the mug, and places the spoon onto the table before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 44, "tasks": ["place spoon"], "length": 260, "global_instruction": "Take the white spoon from the white mug and place it on the black table.", "scene_description": "A black table has a white mug on its right side and a silver metal plate on its left side, with white walls and small black boxes in the background.", "global_instruction_dense": "The right robotic gripper moves into view above the black table, approaches the white mug, grasps the white spoon inside the mug, lifts the spoon out, moves it to the right of the mug, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 45, "tasks": ["place spoon"], "length": 217, "global_instruction": "Place the white spoon into the white mug on the black table.", "scene_description": "A black table holds a silver metal mounting plate on its left side, a white mug and a white spoon on its right side, with black boxes against white walls in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white spoon on the right of the black table, grasps and lifts it, moves it over the adjacent white mug, lowers the spoon into the mug, releases it, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 46, "tasks": ["place spoon"], "length": 269, "global_instruction": "Remove the white spoon from the white mug and place it on the black table.", "scene_description": "A white mug sits on the right side of a black table, a silver metal mounting plate is on the left side of the table, with white walls and black boxes in the background.", "global_instruction_dense": "The right robotic gripper enters the scene from the top right, moves down toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it leftward over the table, then releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 47, "tasks": ["place spoon"], "length": 309, "global_instruction": "Place the white spoon on the table into the adjacent white mug.", "scene_description": "A black table has a white mug and white spoon on its right side, a silver metal mounting plate on its left side, with white walls and black equipment in the background.", "global_instruction_dense": "The right robotic gripper enters the workspace from the top right, moves down toward the white spoon next to the white mug, grasps the spoon, lifts it, moves it over the mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 48, "tasks": ["place spoon"], "length": 230, "global_instruction": "Remove the white spoon from the white mug and place it on the black table.", "scene_description": "A black table has a silver metal mounting plate on its left side and a white mug with a white spoon inside it on its right side, with white walls and black equipment in the background.", "global_instruction_dense": "The right robotic arm enters the scene, moves toward the white mug, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the right of the mug, lowers it onto the black table, releases the spoon, and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 49, "tasks": ["place spoon"], "length": 221, "global_instruction": "Place the white spoon on the black table into the white mug", "scene_description": "A black table holds a white mug, a white spoon to the right of the mug, and a silver metal mounting plate on the table's left side, with black electronic equipment against pale walls in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white spoon on the right side of the black table, grasps the spoon, lifts it, moves it over the adjacent white mug, and releases the spoon to drop it inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 50, "tasks": ["place spoon"], "length": 196, "global_instruction": "Take the white spoon out of the white mug and place it on the black table", "scene_description": "A black table has a silver mounting plate on its left, a white mug with a white spoon inside on its right, with light walls and dark equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white mug on the right of the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the table surface next to the mug, releases the spoon onto the table, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 51, "tasks": ["place spoon"], "length": 204, "global_instruction": "Place the white plastic spoon into the white mug on the table.", "scene_description": "A black table holds a silver metal mounting plate on its left, a white mug and a white plastic spoon on its right, with light gray walls and dark furniture in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white spoon on the black table, grasps it, lifts it, moves it over the opening of the white mug, then releases the spoon into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 52, "tasks": ["place spoon"], "length": 255, "global_instruction": "Remove the spoon from the white mug and place it on the black table.", "scene_description": "A white ceramic mug is on the right side of a black table, a silver metal plate is on the left side of the table, with white walls and black equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon to the table surface next to the mug, and releases the spoon onto the black table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 53, "tasks": ["place spoon"], "length": 215, "global_instruction": "Place the white plastic spoon into the white mug on the table.", "scene_description": "A black tabletop has a silver metal mounting plate on the left, a transparent tape roll with an orange core near the back center, a white mug on the right side, and a white plastic spoon next to the mug, with white walls and black background items.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic spoon on the table, grasps and lifts the spoon, moves it over the white mug, releases the spoon into the mug, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 54, "tasks": ["place spoon"], "length": 267, "global_instruction": "Remove the white spoon from the white mug, place it on the table, then grasp the white mug.", "scene_description": "A black table has a silver metal plate on its left, an orange-cored transparent tape at its middle rear, and a white mug on its right. A right robotic arm is positioned at the upper right of the scene, with white walls and black equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the right of the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, places the spoon onto the table surface to the right of the mug, then moves to grasp the white mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 55, "tasks": ["place spoon"], "length": 236, "global_instruction": "Pick up the white plastic spoon and place it into the white mug.", "scene_description": "A black table holds a silver metal mounting plate on its left, a roll of orange-core clear tape at the middle back, a white mug on the right, and a white plastic spoon at the far right, with white walls and a black vertical speaker in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic spoon on the far right of the table, grasps the spoon, lifts it, moves left to position it above the white mug, releases the spoon into the mug, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 56, "tasks": ["place spoon"], "length": 222, "global_instruction": "Remove the spoon from the white pitcher cup and place it on the black table.", "scene_description": "A black table holds a silver metal mounting plate on its left side, an orange tape roll in the middle, and a white pitcher cup on its right side, with dark boxes and a tall dark speaker against white walls behind the table.", "global_instruction_dense": "The right robotic gripper moves toward the white pitcher cup on the right of the black table, reaches into the cup to grasp the spoon inside, lifts the spoon out of the cup, moves leftward over the table, lowers the spoon, and releases it onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 57, "tasks": ["place spoon"], "length": 217, "global_instruction": "Place the white plastic spoon into the white mug", "scene_description": "A black table holds a white plastic spoon, a white mug, a roll of tape, and a silver metal fixture on the table's left side.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic spoon on the black table, grasps the spoon, lifts it, moves it over the white mug, releases the spoon into the mug, then moves away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 58, "tasks": ["place spoon"], "length": 282, "global_instruction": "Take the white spoon out of the white mug and place it on the black table.", "scene_description": "A silver metal mounting plate is on the left of a black table, a roll of tape is at the table's rear center, and a white mug holding a white spoon sits on the table's right, with white walls in the background.", "global_instruction_dense": "The right robotic arm moves down toward the white mug on the right of the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it left over the table, and releases it onto the black tabletop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 59, "tasks": ["place spoon"], "length": 241, "global_instruction": "Place the white plastic spoon into the white mug on the table.", "scene_description": "A black table holds a silver metal mounting plate on the left, a white plastic spoon in the center, a white mug on the right, and a roll of clear tape with a red core behind the spoon, with white walls and black electronic devices in the background.", "global_instruction_dense": "The right robotic arm first adjusts the position of the white mug, then moves to the white plastic spoon, grasps it, lifts it, moves it over the mug, and releases it to place the spoon inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 60, "tasks": ["place spoon"], "length": 193, "global_instruction": "Take the white spoon out of the white mug and place it on the black tabletop.", "scene_description": "A black table holds a silver metal mounting plate on its left, a white mug with a white spoon inside on its right, and a roll of transparent tape with an orange core behind the mug; no robotic arm is visible initially.", "global_instruction_dense": "The right robotic gripper enters from the top right of the frame, moves down toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it left over the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 61, "tasks": ["place spoon"], "length": 221, "global_instruction": "Place the white plastic spoon into the white mug on the black table.", "scene_description": "A black table holds a white mug, white plastic spoon, red-core translucent tape, and a silver mounting plate on its left; black boxes and a black speaker sit against the white and dark gray wall behind the table.", "global_instruction_dense": "The right robotic gripper first adjusts the position of the white mug on the table, then grasps the white plastic spoon, lifts it, places it inside the white mug, briefly adjusts the mug again, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 62, "tasks": ["place spoon"], "length": 194, "global_instruction": "Take the white spoon out of the white mug and place it on the black tabletop.", "scene_description": "A black table has a silver metal mounting plate on its left, a small black box and red transparent tape roll at the back, and a white mug with a white spoon inside on the right, with white walls in the background.", "global_instruction_dense": "The right robotic arm enters from the upper right, moves toward the white mug, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the table area beside the mug, lowers it, and releases the spoon onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 63, "tasks": ["place spoon"], "length": 250, "global_instruction": "Place the white plastic spoon into the white mug on the black table.", "scene_description": "A black table holds a white mug, a white plastic spoon next to the mug, a translucent tape roll with an orange core at the far end, and a silver metal fixture on the left edge, with light walls and dark vertical fixtures in the background.", "global_instruction_dense": "The right robotic gripper enters from the top right of the frame, moves toward the white plastic spoon on the black table, grasps it, lifts it, moves it above the white mug, lowers it into the mug, then releases the spoon and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 64, "tasks": ["place spoon"], "length": 214, "global_instruction": "Remove the white spoon from the white mug and place it on the black table", "scene_description": "A black table holds a white mug with a white spoon inside it on the right, a roll of red-core transparent tape behind the mug, and a silver metal mounting plate on the left side.", "global_instruction_dense": "The right robotic arm moves down toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves the spoon over the table surface, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 65, "tasks": ["place spoon"], "length": 227, "global_instruction": "Remove the white spoon from the white mug and place it on the black table.", "scene_description": "A black table holds a white mug with a white spoon inside, a translucent orange tape roll, and a silver metal mounting plate on the left edge of the table.", "global_instruction_dense": "The right robotic gripper enters from the top right of the frame, moves toward the white mug, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the right of the mug, lowers it onto the table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 66, "tasks": ["place spoon"], "length": 269, "global_instruction": "Place the white plastic spoon into the white mug.", "scene_description": "A black table has a silver metal mounting plate on its left side, a clear tape with red core at the back center, a white mug positioned to the right of the tape, and a white plastic spoon to the right of the mug, with a black speaker against the back wall behind the table.", "global_instruction_dense": "The right robotic gripper enters the frame from the top right, moves down to grasp the white plastic spoon on the right side of the black table, lifts the spoon, moves it over the white mug, releases the spoon to drop it into the mug, then moves away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 67, "tasks": ["place spoon"], "length": 215, "global_instruction": "Remove the white spoon from the white mug and place it on the black table.", "scene_description": "A black table holds a silver metal mounting plate on the left, red-core clear tape in the middle, and a white mug with a white spoon inside on the right, with white walls and a black electronic device in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it over the table surface, releases the spoon onto the table, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 68, "tasks": ["place spoon"], "length": 204, "global_instruction": "Place the white plastic spoon on the black table into the light gray mug.", "scene_description": "A black table holds a silver metal mounting plate on the far left, a roll of clear tape with a red core, a light gray mug, and a white plastic spoon on the right, with light-colored walls in the background.", "global_instruction_dense": "The right robotic gripper enters the frame from the top right, moves down to grasp the white plastic spoon on the black table, lifts the spoon, moves it over the light gray mug, lowers the spoon into the mug, releases it, then lifts away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 69, "tasks": ["place spoon"], "length": 179, "global_instruction": "Remove the white spoon from the white mug and place it on the black table.", "scene_description": "A black table holds a silver metal mounting plate on its left side, an orange tape measure in the middle, and a white mug with a white spoon inside to the right of the tape measure.", "global_instruction_dense": "The right robotic gripper moves into the scene, lowers toward the white mug, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the right of the mug over the table, and releases the spoon onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 70, "tasks": ["place spoon"], "length": 216, "global_instruction": "Place the white plastic spoon into the white mug on the black table", "scene_description": "A black table holds a silver metal plate on its left, a red tape roll in the middle, a white mug, and a white plastic spoon to the right of the mug, with white walls and black boxes in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic spoon on the right side of the black table, grasps it, lifts it, moves it above the white mug, releases the spoon into the mug, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 71, "tasks": ["place spoon"], "length": 262, "global_instruction": "Take the white spoon out of the white mug and place it on the black table.", "scene_description": "A black table holds a silver metallic mounting plate on its left, a clear tape with a red core near the center, and a white ceramic mug with a white spoon inside it to the right of the tape, against a background of white walls with black fixtures.", "global_instruction_dense": "The right robotic arm moves from off-screen toward the white mug, reaches inside to grasp the white spoon, lifts the spoon out of the mug, moves it rightward over the table, lowers and releases the spoon onto the table surface, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 72, "tasks": ["place spoon"], "length": 254, "global_instruction": "Place the white plastic spoon into the white mug on the black table", "scene_description": "A black table holds a silver metal mounting plate on the left, a white plastic spoon, a roll of red-core clear tape, and a white mug. Light walls and dark background objects are visible behind the table.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic spoon on the black table, grasps the spoon, lifts it, moves it over the white mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 73, "tasks": ["place spoon"], "length": 226, "global_instruction": "Take the white spoon out of the white pitcher cup and place it on the black table.", "scene_description": "A black table has a silver metal mounting plate on its left, a translucent orange-core tape at the middle back, and a white pitcher cup to the right of the tape, with a white wall and black speaker in the background.", "global_instruction_dense": "The right robotic arm moves toward the white pitcher cup on the black table, grasps the white spoon inside the cup, lifts the spoon out of the cup, moves it to the right of the cup, and places it on the black table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 74, "tasks": ["place spoon"], "length": 315, "global_instruction": "Place the white plastic spoon into the white mug on the black table.", "scene_description": "A black table has a silver metal plate on its left, a roll of red transparent tape, a white mug, and a white plastic spoon on its right, with white walls and black furniture in the background.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the right side of the black table, grasps and lifts the spoon, moves it over the opening of the white mug, and releases the spoon into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 75, "tasks": ["place spoon"], "length": 237, "global_instruction": "Remove a white spoon from the white mug and place it on the black table.", "scene_description": "A black table holds a silver slotted metal plate on the left, a roll of red-core transparent tape in the middle, and a white mug on the right, with a black box placed behind the table against white walls.", "global_instruction_dense": "The right robotic gripper moves toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it over the table surface, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 76, "tasks": ["place spoon"], "length": 236, "global_instruction": "Place the white plastic spoon on the table into the white mug.", "scene_description": "A black table holds a silver metal plate on its left, a white plastic spoon, an orange-core clear tape roll, and a white mug from left to right, with white walls in the background.", "global_instruction_dense": "The right robotic gripper moves to the white plastic spoon on the black table, grasps it, lifts and moves it over the white mug, releases the spoon into the mug, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 77, "tasks": ["place spoon"], "length": 315, "global_instruction": "Take the white spoon out of the white mug and place it on the black table.", "scene_description": "A black table holds a silver metal plate on its left side, a roll of orange tape, and a white mug with a white spoon inside it, against a background of white walls and dark furniture.", "global_instruction_dense": "The right robotic gripper moves downward toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves the spoon over the table surface to the right of the mug, lowers the spoon, and releases it onto the black table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 78, "tasks": ["place spoon"], "length": 341, "global_instruction": "Place the white plastic spoon into the white mug.", "scene_description": "A black table has a silver metal plate on its left side, and a roll of orange-core transparent tape, a white plastic spoon, a white mug arranged on its right half, with white walls and black background fixtures.", "global_instruction_dense": "The right robotic arm moves into view from the upper right, descends to grasp the white plastic spoon on the table, lifts the spoon, moves it over the white mug, lowers it into the mug, and releases the gripper.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 79, "tasks": ["place spoon"], "length": 295, "global_instruction": "Remove the spoon from the white mug and place it on the black table.", "scene_description": "A black table holds a silver metal plate on the left, a roll of clear orange-core tape at the center, and a white mug on the right, with black boxes against white walls in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to an empty area of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 80, "tasks": ["place spoon"], "length": 276, "global_instruction": "Place the white plastic spoon into the white ceramic mug", "scene_description": "A black table holds a silver metal plate on its left side, a white plastic spoon, clear tape with a red core, and a white ceramic mug, with white walls and dark furnishings in the background.", "global_instruction_dense": "The right robotic gripper moves into the frame toward the white plastic spoon on the black table, grasps the spoon, lifts it, moves it over the white ceramic mug, lowers it, releases it into the mug, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 81, "tasks": ["place spoon"], "length": 204, "global_instruction": "Remove the white spoon from the white mug and place it on the black table.", "scene_description": "A black table holds a silver metal plate on its left edge, a roll of transparent tape with an orange core, and a white mug with a white spoon inside, set against white walls with dark furniture in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white mug, grasps the white spoon inside it, lifts the spoon out of the mug, and places the spoon onto the black table surface next to the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 82, "tasks": ["place spoon"], "length": 290, "global_instruction": "Place the white plastic spoon on the black table into the white ceramic mug.", "scene_description": "A black table holds a silver metal mounting plate on its left, a roll of orange-core clear tape, a white plastic spoon, and a white ceramic mug on its right, with black and white walls and black equipment behind the table.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the black table, grasps the spoon, lifts it, moves it over the white ceramic mug, lowers it into the mug, releases the spoon, and retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 83, "tasks": ["place spoon"], "length": 211, "global_instruction": "Take the white spoon out of the white mug and place it on the black table", "scene_description": "A black table holds a silver metal plate on the left, a white mug and a small red tape roll on the center-right, with black devices against a white wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out, moves it to the right of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 84, "tasks": ["place spoon"], "length": 207, "global_instruction": "Place the white plastic spoon into the white mug on the black table", "scene_description": "A black table holds a silver metal plate on the left, a white mug at the center, and a white plastic spoon to the right of the mug, with black and white walls in the background.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the right of the black table, grasps it, lifts it, moves it over the white mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 85, "tasks": ["place spoon"], "length": 264, "global_instruction": "Remove a white spoon from the white mug and place it on the black table", "scene_description": "A black table holds a silver handled metal plate on its left, a white mug at its center, and an orange tape roll behind the mug, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves down to the white mug, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves the spoon to the right of the mug, lowers it, and releases it onto the black table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 86, "tasks": ["place spoon"], "length": 225, "global_instruction": "Place the white plastic spoon into the white mug on the black table.", "scene_description": "A black table holds a silver metal plate on the left, a white mug at the center, a white plastic spoon to the right of the mug, and a small roll of orange tape behind the mug, with white walls in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves toward the white plastic spoon, grasps and lifts it, moves it over the white mug, lowers the spoon into the mug, releases the spoon, and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 87, "tasks": ["place spoon"], "length": 214, "global_instruction": "Remove the white spoon from the white mug and place it on the black table.", "scene_description": "A black table holds a silver bolted metal plate on its left, a white mug with a white spoon inside at its center, and red tape behind the mug, with white walls in the background.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, grasps the white spoon inside the white mug, lifts the spoon out of the mug, moves it to the right side of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 88, "tasks": ["place spoon"], "length": 257, "global_instruction": "Place the white plastic spoon into the white mug on the black table.", "scene_description": "A black table holds a silver metal mounting plate on its left side, a white mug at the center, a white plastic spoon to the right of the mug, and a small orange tape roll behind the mug, with white walls and black office equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic spoon on the black table, grasps the spoon, lifts it, moves it over the white mug, lowers it into the mug, and releases the spoon inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 89, "tasks": ["place spoon"], "length": 229, "global_instruction": "Remove the white spoon from the white mug and place it on the black table.", "scene_description": "A silver metal plate and a white mug holding a white spoon are placed on a black table, with the plate positioned to the left of the mug.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves the spoon to the right side of the mug, and releases it onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 90, "tasks": ["place spoon"], "length": 619, "global_instruction": "Place the white plastic spoon into the white ceramic mug, remove it, then place it back into the mug.", "scene_description": "A black table holds a white ceramic mug, a white plastic spoon to the mug's right, and a silver metal mounting plate on its left side, with light walls and a dark vertical pillar in the background.", "global_instruction_dense": "The right robotic arm approaches the white spoon on the black table, grasps it, places it into the white mug, lifts the spoon out of the mug and sets it on the table, then picks the spoon up again and places it back into the white mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 91, "tasks": ["place spoon"], "length": 238, "global_instruction": "Remove the white spoon from the white mug and place it on the black table", "scene_description": "A white mug sits on a black table, a silver metal plate is positioned at the left side of the table, office equipment is visible against the background wall.", "global_instruction_dense": "The right robotic arm enters the scene from the upper right, moves toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the right of the mug, lowers it to the table surface, and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 92, "tasks": ["place spoon"], "length": 242, "global_instruction": "Place the white plastic spoon into the white mug on the black table.", "scene_description": "A black table holds a white mug, a white plastic spoon, and a silver metal plate on its left side, with office equipment against a white wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the white spoon on the black table, grasps it, lifts it, moves it over the white mug, releases the spoon into the mug, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 93, "tasks": ["place spoon"], "length": 231, "global_instruction": "Remove the spoon from the white mug and place it on the black table", "scene_description": "A white mug and a silver metal mounting plate are placed on a black table, with the plate on the left side of the table and the mug near the center.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the black table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it to the right side of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 94, "tasks": ["place spoon"], "length": 307, "global_instruction": "Place the white spoon into the white mug on the black table.", "scene_description": "A black table holds a silver metal plate on its left, a white mug near its center, and a white spoon to the right of the mug, with office furniture and equipment in the background.", "global_instruction_dense": "The right robotic gripper moves from offscreen toward the white spoon on the black table, grasps the spoon, lifts it, moves it above the white mug, lowers it, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 95, "tasks": ["place spoon"], "length": 196, "global_instruction": "Remove the white spoon from inside the white mug and place it on the black table next to the mug.", "scene_description": "A black table holds a white mug positioned to the right of a silver metal plate with cutouts and screws on the table's left side.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the black table, lowers its gripper into the mug to grasp the white spoon inside, lifts the spoon out of the mug, moves it to the area right of the mug, and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 96, "tasks": ["place spoon"], "length": 246, "global_instruction": "Place the white plastic spoon into the white mug on the black table.", "scene_description": "A black table has a silver metal plate on its left side, a white mug at its center, a white plastic spoon beside the mug, and a black wallet with red and white stripes at its bottom right, with white walls and dark cabinets in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white spoon on the black table, grasps and lifts the spoon, moves it over the white mug, lowers it into the mug, releases the spoon, then lifts away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 97, "tasks": ["place spoon"], "length": 293, "global_instruction": "Pick up the white plastic spoon and place it into the white mug", "scene_description": "A black table holds a silver metal mounting plate on its left, a white plastic spoon in the center, a white mug to the spoon's right, and a black wallet with red and white stripes on the table's right. White walls, a black vertical column, and small black boxes are visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the white plastic spoon on the black table, grasps the spoon with its gripper, lifts and moves the spoon over the white mug, then releases the spoon into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 98, "tasks": ["place spoon"], "length": 207, "global_instruction": "Remove the white spoon from the white mug and place it on the black table.", "scene_description": "A black table holds a silver metal plate on its left side, a white mug near its center, and a black wallet with red and white stripes on its lower right, with black boxes against the white wall in the background.", "global_instruction_dense": "The right robotic arm descends toward the white mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the right side of the table next to the striped wallet, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 99, "tasks": ["place spoon"], "length": 166, "global_instruction": "Place the white plastic spoon into the white mug on the black table.", "scene_description": "A black table holds a white mug, a white plastic spoon, a black wallet with red and white stripes, and a silver metal plate on its left. The background has a white wall and dark furniture.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the black table, grasps the spoon, lifts it, moves it over the white mug, lowers it into the mug, releases the spoon, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 100, "tasks": ["place spoon"], "length": 227, "global_instruction": "Pick up the white spoon and place it into the white cup on the table.", "scene_description": "A black table holds a white plastic spoon, a white cylindrical cup to the upper right of the spoon, and a silver metal mounting plate on its left edge, with white walls and black equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the white spoon on the black table, grasps the spoon, lifts it, moves it over the white cup, and releases the spoon into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 101, "tasks": ["place spoon"], "length": 289, "global_instruction": "Remove the white spoon from the gray cup and place it on the black table.", "scene_description": "A black table holds a gray cup with a white spoon inside it near the center. A silver metal plate is on the left side of the table, with white walls and black equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the gray cup on the black table, grasps the white spoon inside the cup, lifts the spoon out of the cup, moves it to the right of the cup, and releases the spoon onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 102, "tasks": ["place spoon"], "length": 162, "global_instruction": "Remove the spoon from the yellow mug and place it on the black table", "scene_description": "A black table holds a silver metal mounting plate on its left side and a yellow mug with a handle at its center-right. A robotic gripper is positioned above the table, with a green cloth and tools on a white side table to the left, and boxes on a white surface in the right background.", "global_instruction_dense": "The right robotic arm moves down toward the yellow mug on the black table, lowers its gripper into the mug to grasp the spoon inside, lifts the spoon out of the mug, moves rightward over the table, lowers the spoon, and releases it onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 103, "tasks": ["place spoon"], "length": 129, "global_instruction": "Take the spoon out of the yellow mug and place it on the black tabletop.", "scene_description": "A bright yellow mug, a silver metal mounting plate are placed on a black table. A robotic gripper is above the upper right of the table, and a white side table with a green cloth and electronics is to the left.", "global_instruction_dense": "The right robotic gripper moves toward the yellow mug, lowers into the mug to grasp the spoon inside, lifts the spoon out, moves left over the table, lowers the spoon, and releases it onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 104, "tasks": ["place spoon"], "length": 184, "global_instruction": "Take the white spoon from the yellow mug and place it on the black table.", "scene_description": "A black table is in the foreground, with a silver metal fixture on its left, a yellow mug holding a white spoon and a small red tape measure on the right side of the table. A white table with assorted lab equipment and a tripod are visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to an empty area on the black table, lowers the spoon, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 105, "tasks": ["place spoon"], "length": 124, "global_instruction": "Remove the spoon from the yellow mug and place it on the black worktable.", "scene_description": "A black worktable holds a silver metal part on the left and a yellow mug with a white interior on the right, with a tool-strewn white table in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow mug on the black table, grasps the spoon inside the mug, lifts the spoon out, moves it leftward, and places it on the black table surface next to the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 106, "tasks": ["place spoon"], "length": 196, "global_instruction": "Remove the spoon from the yellow mug and place it on the black work table.", "scene_description": "A black work table holds a silver metal plate on its left side and a yellow mug with a white interior on its right side. A white table with assorted tools, wires, and lab equipment is in the background.", "global_instruction_dense": "The right robotic gripper enters the scene, lowers toward the yellow mug on the black table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon to the table surface beside the mug, and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 107, "tasks": ["place spoon"], "length": 212, "global_instruction": "Remove the spoon from the yellow mug and place it on the black table", "scene_description": "A black work table holds a silver metal plate on its left, a yellow mug with a white rim at its center, and a small red transparent tape to the right of the mug. A cardboard box is left of the table, and a tool-covered white table is in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow mug on the black table, lowers into the mug to grasp the spoon inside, lifts the spoon out of the mug, moves it left of the mug, lowers it, and releases it onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 108, "tasks": ["place spoon"], "length": 172, "global_instruction": "Take the spoon out of the yellow mug and place it on the black table", "scene_description": "A yellow mug with a white interior sits at the center of a black table, a silver metal plate is on the left of the black table, a white table with assorted tools and equipment is in the background, and a robotic arm is at the right edge of the scene.", "global_instruction_dense": "The right robotic arm moves toward the yellow mug on the black table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it to an empty area on the black table, lowers the spoon, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 109, "tasks": ["place spoon"], "length": 193, "global_instruction": "Remove the spoon from the yellow mug and place it on the black table.", "scene_description": "A yellow mug with a spoon inside sits at the center of a black table. A white workbench with assorted tools and equipment is positioned in the background behind the black table, and a robotic arm is out of frame in the upper right.", "global_instruction_dense": "The right robotic arm moves toward the yellow mug on the black table, grips the spoon inside the mug, lifts the spoon out of the mug, moves it to the table surface next to the mug, lowers the spoon, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 110, "tasks": ["place spoon"], "length": 182, "global_instruction": "Remove the spoon from the yellow mug and place it on the black worktable.", "scene_description": "A yellow mug with a spoon inside sits at the center of a black worktable, a silver metal fixture is on the left of the black table, a white table with assorted lab tools is in the background, and a robotic arm is positioned above the background table.", "global_instruction_dense": "The right robotic arm moves from the background toward the yellow mug, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon over the table surface next to the mug, and releases the spoon onto the black worktable.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 111, "tasks": ["place spoon"], "length": 173, "global_instruction": "Take the spoon out of the yellow mug and place it on the black tabletop.", "scene_description": "A yellow mug with a white rim holding a spoon is at the center of a black tabletop, a silver metal mounting plate sits on the left of the table, and a white workbench with assorted tools, wires and equipment is in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow mug on the black table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon to the empty table area to the right of the mug, lowers the spoon onto the table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 112, "tasks": ["place spoon"], "length": 372, "global_instruction": "Take the spoon out of the yellow mug, place it on the table, then put the spoon back into the yellow mug.", "scene_description": "A silver metal fixture is on the left of a black worktable, a yellow mug with a metal spoon inside sits at the table center, and a white table with tools and electronic parts is in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow mug, grasps the spoon inside, lifts it out, places the spoon on the black table, then re-grasps the spoon, lifts it over the mug, and releases it back into the yellow mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 113, "tasks": ["place spoon"], "length": 150, "global_instruction": "Remove the spoon from the yellow mug and place it on the black worktable", "scene_description": "A black worktable has a yellow mug with a spoon inside on its right section, and a silver metal plate on its left section. A white table with assorted tools, cables, and electronic components sits behind the worktable.", "global_instruction_dense": "The right robotic arm moves down toward the yellow mug on the black worktable, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon over the worktable surface next to the mug, lowers the spoon, and releases it onto the worktable.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 114, "tasks": ["place spoon"], "length": 176, "global_instruction": "Remove the white spoon from the yellow mug and place it on the black table", "scene_description": "A black table holds a silver metal plate on its left and a yellow mug with a white spoon inside on its right. A white table with assorted tools, wires and small components is behind the black table, and a robotic arm base with blue indicator lights is at the right of the black table.", "global_instruction_dense": "The right robotic arm moves down toward the yellow mug on the black table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the surface of the black table next to the mug, and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 115, "tasks": ["place spoon"], "length": 149, "global_instruction": "Take the spoon out of the yellow cup and place it on the black table", "scene_description": "A yellow cup with a white interior holding a spoon sits on a black table, a silver metal fixture is on the left of the table, and a workbench with tools and electronics is in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow cup, grasps the spoon inside the cup, lifts the spoon out, moves it to the table surface next to the cup, places the spoon down and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 116, "tasks": ["place spoon"], "length": 159, "global_instruction": "Take the small spoon out of the yellow mug and place it on the black table.", "scene_description": "A black table has a yellow mug near its center, a silver metal fixture on its left side, and a white table with assorted lab tools in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow mug, grasps the small spoon inside the mug, lifts the spoon out of the mug, moves it to an empty spot on the black table to the right of the mug, lowers the spoon, releases it onto the table surface, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 117, "tasks": ["place spoon"], "length": 258, "global_instruction": "Remove the black spoon from the green cup and place it on the wooden table next to the cup.", "scene_description": "A light wooden table holds a green patterned cup with a black spoon inside it, with office items including a monitor and papers in the background.", "global_instruction_dense": "The right robotic gripper moves into the frame toward the green cup, grasps the black spoon inside the cup, lifts the spoon out of the cup, moves the spoon to the side of the cup, and places it on the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 118, "tasks": ["place spoon"], "length": 399, "global_instruction": "Move the spoon from inside the yellow mug to the table, return it to the mug, then remove it again.", "scene_description": "A yellow mug with a black rim containing a metal spoon is positioned on a plain white table, with shelves and boxes in the background.", "global_instruction_dense": "The right robotic gripper approaches the yellow mug, grasps the spoon inside it, lifts the spoon out and places it on the table next to the mug, then picks up the spoon from the table, lowers it back into the mug, then grasps the spoon again and lifts it out of the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 119, "tasks": ["place spoon"], "length": 170, "global_instruction": "Remove the black spoon from the yellow mug and place it on the white table next to the mug.", "scene_description": "A yellow mug with a black rim, containing a black spoon, is positioned at the center of a white table.", "global_instruction_dense": "The right robotic gripper moves toward the yellow mug, grasps the black spoon inside the mug, lifts the spoon out of the mug, moves it to the side of the mug, and places it on the white table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 120, "tasks": ["place spoon"], "length": 131, "global_instruction": "Remove the black spoon from the yellow mug and place it on the white table.", "scene_description": "A yellow mug with a black rim, containing a black spoon, is placed at the center of a white table.", "global_instruction_dense": "The right robotic arm moves toward the yellow mug on the white table, grasps the black spoon inside the mug, lifts the spoon out of the mug, moves it to the side of the mug, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 121, "tasks": ["place spoon"], "length": 152, "global_instruction": "Place the translucent spoon on the purple paper into the beige wooden tray", "scene_description": "A white office desk holds a white power strip with orange switches on the left, a light beige two-compartment wooden tray in the lower center, a purple sheet of paper to the tray's right with a small translucent spoon on it, a second translucent spoon at the desk's bottom edge, a black backpack leans against the grey partition behind the desk, and computer monitors with cables are on the desk's right side.", "global_instruction_dense": "The right robotic arm moves toward the translucent spoon on the purple paper, grasps the spoon with its gripper, lifts it, moves left over the beige wooden tray, and releases the spoon into the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 122, "tasks": ["place spoon"], "length": 381, "global_instruction": "Place the black spoon into the clear empty glass", "scene_description": "A clear empty glass, a black spoon, and a golden round flat object are placed on a white table. A striped couch is positioned to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black spoon on the white table, grasps it, lifts it upward, moves it over the clear empty glass, lowers the spoon into the glass, releases the spoon, and retracts away from the glass.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 123, "tasks": ["place spoon"], "length": 302, "global_instruction": "Remove the black spoon from the glass bottle and place it on the white tabletop.", "scene_description": "A wooden table with a white top holds a clear glass bottle with a black-capped spoon inside and a small golden circular object, with a striped couch to the table's right next to a blinds-covered window.", "global_instruction_dense": "The right robotic arm moves toward the glass bottle, grips the black spoon inside the bottle, lifts the spoon out, moves it to the left side of the table, and releases it onto the white tabletop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 124, "tasks": ["place spoon"], "length": 352, "global_instruction": "Place the black measuring spoon into the clear glass jar on the table.", "scene_description": "A black measuring spoon, a yellow circular lid, and a clear empty glass jar are placed on a white table. A striped sofa sits to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm moves down toward the black measuring spoon on the table, grasps it, lifts it, moves it over the clear glass jar, lowers it, and releases it into the jar.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 125, "tasks": ["place spoon"], "length": 199, "global_instruction": "Remove the black spoon from the clear glass bottle and place it on the white table.", "scene_description": "A clear glass bottle holding a black spoon and a round gold-colored lid are placed on a white table next to a striped sofa, with window blinds in the background.", "global_instruction_dense": "The right robotic arm moves down to the clear glass bottle on the table, grasps the black spoon inside the bottle, lifts the spoon fully out of the bottle, moves it over the white table surface, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 126, "tasks": ["place spoon"], "length": 457, "global_instruction": "Place the black spoon on the cutting board into the clear glass jar", "scene_description": "A white cutting board rests on a wooden table. On the cutting board, a black-handled whisk is on the left, a yellow circular object is at the center, a black spoon is on the right side, and a clear glass jar sits next to the spoon. A striped sofa is to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm moves down toward the black spoon on the white cutting board, grasps the spoon, lifts it, moves it over the adjacent clear glass jar, lowers the spoon into the jar, and releases it to leave the spoon inside the jar.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 127, "tasks": ["place spoon"], "length": 1014, "global_instruction": "Remove the black spoon from the glass jar, place it on the table, and rearrange the potted succulent, whisk, and glass jar on the tabletop.", "scene_description": "A white table holds a green tissue box on the left, a small yellow round lid, a clear glass jar with a black spoon inside, a black-handled whisk, a small gray potted blue succulent, and a black slotted spoon. A striped brown, gray, and beige sofa sits to the right of the table.", "global_instruction_dense": "The right robotic arm first moves toward the clear glass jar, grasps the black spoon inside it, lifts the spoon out of the jar, moves it to the right side of the table, and releases it next to the potted succulent. Next, the arm grasps the small gray potted blue succulent, lifts it, moves it to a new position on the table, and releases it. Then the arm grasps the black-handled whisk, lifts and moves it to another position on the table, and releases it. Finally, the arm grasps the clear glass jar, adjusts its position on the table, and releases it before moving away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 128, "tasks": ["place spoon"], "length": 339, "global_instruction": "Take the black slotted spoon out of the clear glass jar and place it on the white table.", "scene_description": "A white table holds a teal tissue box on its left, a small blue succulent in a gray pot next to a gold circular object at its center, and a clear glass jar with a metal whisk and black slotted spoon at its rear. A striped fabric couch sits to the right of the table, with vertical blinds in the background.", "global_instruction_dense": "The right robotic arm moves down toward the clear glass jar on the white table, grasps the black slotted spoon inside the jar, lifts the spoon out of the jar, moves it toward the right side of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 129, "tasks": ["place spoon"], "length": 285, "global_instruction": "Place the black-handled spoon into the clear glass jar on the table.", "scene_description": "A white table holds a green tissue box (left), clear glass jar (center), yellow circular lid (middle), black-handled whisk and black-handled spoon (right). A striped couch sits to the table's right, with blinds in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the black spoon on the table, lifts it, moves it over the clear glass jar, lowers it into the jar, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 130, "tasks": ["place spoon"], "length": 250, "global_instruction": "Remove the black spoon from the clear glass jar and place it on the white tabletop.", "scene_description": "A white table holds a teal and white tissue box on the left, a clear glass jar with a black spoon inside, a golden circular lid, and a black whisk. A striped couch is to the right of the table, with blinds in the background.", "global_instruction_dense": "The right robotic arm moves down toward the clear glass jar on the white table, grasps the black spoon inside the jar, lifts the spoon out of the jar, moves it leftward over the table, lowers it, and releases it onto the white tabletop left of the golden lid.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 131, "tasks": ["place spoon"], "length": 333, "global_instruction": "Place the black spoon into the clear glass jar containing a metal whisk.", "scene_description": "A white table holds a teal tissue box at its left, a black spoon near its front edge, a clear glass jar with a metal whisk inside at its center, and a small green coaster to the right of the jar; a striped sofa is to the right of the table, with blinds in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the black spoon on the table, grasps it, lifts it, moves it over the clear glass jar, lowers it into the jar, and releases it so it rests inside the jar alongside the whisk.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 132, "tasks": ["place spoon"], "length": 318, "global_instruction": "Place the black spoon into the clear glass jar on the white cutting board.", "scene_description": "A white cutting board rests on a wooden table. On the cutting board: a teal patterned tissue box at the left, a clear glass jar at the center, a black spoon and black whisk to the right of the jar, and a golden circular lid at the far right. A striped sofa is positioned to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm moves toward the black spoon on the white cutting board, grasps the spoon, lifts it, moves it over the clear glass jar, lowers the spoon into the jar, releases it, and moves away, leaving the spoon standing inside the jar.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 133, "tasks": ["place spoon"], "length": 407, "global_instruction": "Place the black spoon on the table into the clear glass jar.", "scene_description": "A light green bowl, green tissue box, black whisk, black spoon, clear glass jar, and yellow jar lid are on a white-topped wooden table. A striped couch sits to the table's right, with blinds in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black spoon on the table, grasps it, lifts it, moves it over the clear glass jar, lowers and releases it into the jar, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 134, "tasks": ["place spoon"], "length": 258, "global_instruction": "Place the black spoon into the light green bowl", "scene_description": "A white cutting board is placed on a wooden table, holding a light green bowl, a black spoon, a black-handled whisk, and a clear glass jar with a green lid, a teal tissue box sits to the left of the board, a striped sofa is to the right of the table with blinds in the background.", "global_instruction_dense": "The right robotic arm moves down toward the black spoon on the white cutting board, grasps the spoon, lifts it, moves it left over the light green bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 135, "tasks": ["place spoon"], "length": 230, "global_instruction": "Move the black spoon from the green bowl to the white table surface near the whisk.", "scene_description": "A white table holds a green bowl with a black spoon inside, a black-handled whisk, a clear glass jar with a gold lid, and a teal tissue box. A striped sofa is positioned to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm moves down toward the black spoon inside the green bowl, grasps the spoon, lifts it, moves it rightward over the white table near the whisk, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 136, "tasks": ["place spoon"], "length": 160, "global_instruction": "Place the black spoon on the table into the light green bowl", "scene_description": "A white table holds a light green bowl, black spoon, black-handled whisk, clear glass jar with gold lid, and green tissue box, with a striped sofa to the right and window blinds in the background.", "global_instruction_dense": "The left robotic gripper descends toward the black spoon on the white table, grasps it, lifts it, moves it over the light green bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 137, "tasks": ["place spoon"], "length": 135, "global_instruction": "Take the black spoon out of the green bowl and place it on the white cutting board.", "scene_description": "A wooden table with a white cutting board is in the scene. On the cutting board are a green bowl with a black spoon inside, a beige bowl, a glass jar holding a whisk, and a small yellow round object. A striped fabric couch is to the right of the table, and horizontal blinds cover the window behind the table.", "global_instruction_dense": "The right robotic arm moves downward from the top right of the frame toward the green bowl, grasps the black spoon inside the green bowl, lifts the spoon out of the bowl, moves it to the empty left area of the white cutting board, lowers the spoon, and releases it onto the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 138, "tasks": ["place spoon"], "length": 820, "global_instruction": "Screw the yellow lid onto the clear glass bottle then place the black spoon into the light green bowl.", "scene_description": "A wooden table topped with a white cutting board holds a black-handled whisk, black plastic spoon, yellow circular bottle lid, open clear glass bottle, light green bowl, and light beige bowl, with a striped fabric couch and matching cushion to the right of the table, and blinds in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow lid on the cutting board, grasps and lifts it, screws it onto the clear glass bottle to close the bottle, then moves to grasp the black spoon, lifts it, moves it over the light green bowl, releases it into the bowl, and moves its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 139, "tasks": ["place spoon"], "length": 239, "global_instruction": "Place the black-handled spoon into the light beige bowl.", "scene_description": "A white table holds a black-handled whisk, a black-handled spoon, a clear glass bottle, a light green bowl, a light beige bowl, and a tiny green lid, with a striped couch and window blinds in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black-handled spoon on the left side of the table, grasps it, lifts it, moves it rightward over the light beige bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 140, "tasks": ["place spoon"], "length": 159, "global_instruction": "Place the black spoon from the beige bowl onto the white cutting board surface.", "scene_description": "A white cutting board rests on a wooden table. On the board: a black-handled whisk at left, a clear glass bottle at center, a light green bowl below the bottle, a yellow circular lid to the right of the green bowl, and a light beige bowl with a black spoon inside it to the right of the bottle. A striped fabric couch is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the beige bowl on the cutting board, grasps the black spoon inside the bowl, lifts the spoon, moves it leftward over the cutting board, and releases it onto the board next to the yellow lid.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 141, "tasks": ["place spoon"], "length": 554, "global_instruction": "Place the held metal spoon onto the orange sofa seat then reposition the robotic arm.", "scene_description": "An orange fabric sofa is in the foreground, with a light yellow divided cutlery tray on its left seating area, several metal utensils including a blue-handled tool on its right seating area, and a right robotic arm holding a metal spoon above the right seating area. The background is an open office with desks, chairs, computers and a red industrial machine.", "global_instruction_dense": "The right robotic gripper releases the metal spoon it holds onto the orange sofa seat, then the arm lifts upward, retracts away from the sofa, rotates and adjusts its position to the right of the sofa before becoming stationary.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 142, "tasks": ["place spoon"], "length": 189, "global_instruction": "Place the brown-handled metal spoon on the orange sofa into the divided utensil tray.", "scene_description": "An orange sofa is in the foreground of an office workspace: a light yellow divided utensil tray with metal utensils sits on the left of the sofa seat, multiple loose metal utensils including a brown-handled spoon are on the right of the seat, and a white-grey robotic arm is positioned above the sofa to the right, with office desks, chairs, and computers in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the brown-handled metal spoon on the right of the orange sofa seat, grasps the spoon, lifts it, moves leftward over the light yellow divided utensil tray, lowers the spoon, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 143, "tasks": ["place spoon"], "length": 200, "global_instruction": "Reposition the blue-handled spoon among the other utensils on the orange sofa.", "scene_description": "An orange fabric sofa is in the foreground, with assorted metal silverware on its right seat cushion and a light-colored divided wooden tray on its left seat cushion. A grey fabric sofa sits behind the orange sofa, and office desks, monitors, and office chairs are visible in the background open office space.", "global_instruction_dense": "The right robotic arm moves down from above into view, approaches the blue-handled spoon on the orange sofa, grasps it with its gripper, lifts and adjusts its position, then lowers and releases it back onto the sofa among the other silverware.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 144, "tasks": ["place spoon"], "length": 236, "global_instruction": "Remove a metal spoon from the light blue mug and place it on the purple striped notebook.", "scene_description": "A light wood office desk holds a black monitor on its left, a white power strip and charger next to the monitor, a light blue stainless steel mug at the center, a small potted green plant behind the mug, and a dark purple notebook with pink stripes to the right of the mug, with office chairs visible in the background.", "global_instruction_dense": "The right robotic gripper moves into view above the desk, lowers into the light blue mug to grasp the metal spoon inside, lifts the spoon out of the mug, moves right over the purple striped notebook, lowers the spoon, releases it onto the notebook, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 145, "tasks": ["place spoon"], "length": 267, "global_instruction": "Place the silver spoon on the table into the turquoise mug", "scene_description": "A light brown table holds a silver spoon, a red-and-white marker, a turquoise mug with a black handle, a grey container with a black lid, and a wooden tray atop a grey plastic crate at the table's rear, in an office environment.", "global_instruction_dense": "The right robotic gripper moves down toward the silver spoon on the table, grasps it, lifts it, moves it over the turquoise mug, releases it into the mug, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 146, "tasks": ["place spoon"], "length": 197, "global_instruction": "Pick the metal spoon from the light blue mug and place it into the wooden tray on the gray crate.", "scene_description": "A light brown table holds a light blue mug with black handle, a gray pot with black lid, a red-and-white marker, and a gray crate topped with a red-taped wooden tray, with a white cloth covering the right part of the table.", "global_instruction_dense": "The right robotic arm moves toward the light blue mug, grasps the metal spoon inside it, lifts the spoon, moves it over the wooden tray atop the gray crate, lowers and releases the spoon into the tray, then moves upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 147, "tasks": ["place spoon"], "length": 248, "global_instruction": "Pick a metal spoon from the wooden compartment tray and place it on the front area of the table", "scene_description": "A light brown wooden compartment tray sits on a red-taped grey plastic crate at the back of a light brown table. On the table's front right are a light blue stainless steel mug, a grey lidded container, and a dark brown round lid, with a lab workspace in the background.", "global_instruction_dense": "The right robotic arm moves down toward the wooden compartment tray at the back of the table, grasps a metal spoon from the tray, lifts the spoon, moves it forward to the front of the table near the light blue mug, releases the spoon onto the table surface, then lifts upward away from the placed spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 148, "tasks": ["place spoon"], "length": 382, "global_instruction": "Take the red object from the light blue mug, place it in the gray round container, then place the metal spoon into the light blue mug.", "scene_description": "A light yellow-brown table holds a dark brown circular lid, a light blue mug with a black handle, a metal spoon, a gray plastic crate topped with a red-taped wooden tray, a small gray round container, and a small black rectangular object, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic gripper enters the frame, descends to the light blue mug, grasps the red object inside the mug, lifts and moves the red object to the small gray round container and releases it into the container, then moves to grasp the metal spoon on the table, lifts the spoon, moves it to the light blue mug, places the spoon inside the mug, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 149, "tasks": ["place spoon"], "length": 151, "global_instruction": "Take the metal spoon from the light blue mug and place it into the rear wooden tray.", "scene_description": "A light brown tabletop holds a light blue mug with a metal spoon inside, a dark brown lid to the right of the mug, a grey circular container behind the mug, and a grey crate topped with a wooden tray at the back of the table in a lab workspace.", "global_instruction_dense": "The right robotic gripper moves downward toward the light blue mug, grasps the metal spoon inside the mug, lifts the spoon upward, moves it backward over the wooden tray atop the grey crate, releases the spoon into the tray, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 150, "tasks": ["place spoon"], "length": 191, "global_instruction": "Pick a metal spoon from the wooden tray and place it on the wooden table.", "scene_description": "A light wooden table holds a red-and-white marker, a dark round lid, a grey cylindrical container, a small black case, and a grey crate topped with a sectioned wooden tray secured with red tape, in a lab workspace.", "global_instruction_dense": "The right robotic gripper moves toward the sectioned wooden tray on the grey crate, lowers into the tray to grasp a metal spoon, lifts the spoon, moves it over the table surface, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 151, "tasks": ["place spoon"], "length": 341, "global_instruction": "Close the microwave door, then place a spoon from the black mesh container into the blue cup.", "scene_description": "A black microwave with a red open door is placed on a light yellow wooden table, with a laboratory workspace in the background.", "global_instruction_dense": "The right robotic gripper first moves to the open red microwave door, pulls it fully closed, then moves to the black mesh storage box on the table, grasps a spoon, lifts it, moves it over the blue cup, releases the spoon into the cup, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 152, "tasks": ["place spoon"], "length": 315, "global_instruction": "Take a light blue spoon from the blue plastic cup and place it on the wooden table.", "scene_description": "A light wooden table holds a black microwave with red door trim on its left, plus a black square mesh container, blue plastic cup, red marker, and small grey pot on its right in a lab workspace.", "global_instruction_dense": "The right robotic arm moves toward the blue plastic cup on the table, lowers its gripper into the cup to grasp the light blue spoon inside, lifts the spoon out of the cup, moves it leftward over the table, and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 153, "tasks": ["place spoon"], "length": 328, "global_instruction": "Pick up the spoon on the table and place it into the blue shallow dish.", "scene_description": "A light wooden table holds a white paper towel roll on its left side, a blue shallow dish, a brown paper shopping bag, a packaged item with dark contents, and a folded beige cloth; wooden chairs are beside the table, a white robotic arm is on the right of the frame, and brown sofas are in the background.", "global_instruction_dense": "The left robotic arm moves toward the spoon resting on the light wooden table, grasps the spoon with its gripper, lifts it, moves it over the blue shallow dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 154, "tasks": ["place spoon"], "length": 391, "global_instruction": "Pick up the silver spoon from the folded cloth, lift the glass lid, and place the spoon on the table next to the teal plate.", "scene_description": "A light wooden table holds a teal shallow plate, a round glass lid, and a folded beige cloth with a silver spoon on it, with brown sofas and a stainless steel refrigerator in the background living area.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the folded beige cloth on the table, grasps the spoon, uses it to lift the round glass lid off its container, places the spoon on the table next to the teal plate, then lowers the glass lid back onto the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 155, "tasks": ["place spoon"], "length": 156, "global_instruction": "Pick up the white spoon from the food plate and place it on the wooden table.", "scene_description": "A light wooden table holds a dark blue plate with brown food chunks, a white spoon in the plate, a metal spoon left of the plate, and a black lidded pot right of the plate. A left robotic arm is positioned on the right side of the frame, with a brown sofa, small side table with items, and stainless steel fridge in the background.", "global_instruction_dense": "The left robotic arm moves toward the white spoon resting in the dark blue food plate, grasps the spoon, lifts it out of the plate, moves it over the adjacent table surface, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 156, "tasks": ["place spoon"], "length": 269, "global_instruction": "Place the white plastic spoon from the table onto the dark blue plate of brown food.", "scene_description": "A light wooden table holds a dark blue plate of brown food chunks, a white plastic spoon to the plate's right, a metal spoon to the plate's left, and a black cooking pot behind the plate. A wooden chair is left of the table, with a brown sofa, cluttered side table, and stainless steel fridge in the background, and two robotic arms at the frame's right side.", "global_instruction_dense": "The left robotic arm moves downward toward the white plastic spoon on the table, grasps the spoon, lifts it, moves it over the dark blue plate of brown food chunks, and releases the spoon to rest on the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 157, "tasks": ["place spoon"], "length": 258, "global_instruction": "Place the silver spoon from the table onto the plate of brown food", "scene_description": "A light wooden table holds a dark plate of brown food (with a white spoon on it), a silver spoon to the left of the plate, and a small black pot next to the plate. A dual-arm robot is positioned to the right of the table, with a brown couch, item-filled side table, and refrigerator in the background.", "global_instruction_dense": "The left robotic arm moves toward the silver spoon lying on the table to the left of the plate, grasps the spoon, lifts it, moves it over the plate of brown food, then releases the spoon onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 158, "tasks": ["place spoon"], "length": 536, "global_instruction": "Remove the silver lid from the black pot, place it on the table, then place the white spoon from the blue plate into the black pot.", "scene_description": "A light wooden table holds a black cooking pot with a silver lid, a dark blue plate of brown food chunks, and a white plastic spoon resting on the plate. A brown sofa, cluttered small side table, and stainless steel refrigerator are in the background, with a dual-arm white robot positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the silver lid on the black cooking pot, grasps the lid, lifts it, moves it left and places it on the table next to the blue food plate, then moves toward the white spoon on the plate, grasps the spoon, lifts it, moves it right over the pot, and lowers it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 159, "tasks": ["place spoon"], "length": 316, "global_instruction": "Place the wooden spoon onto the kitchen counter adjacent to the small dark spice bottle.", "scene_description": "A kitchen scene with a black electric stove, a red-capped red spice bottle, multiple cookware items on the stovetop, a light brown upper cabinet, a white refrigerator in the background, and a white robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves left to grasp a wooden spoon, lifts it, moves it over the kitchen counter next to the small dark spice bottle, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 160, "tasks": ["place spoon"], "length": 163, "global_instruction": "Pick up the wooden spoon from the metal pot and place it on the stovetop surface.", "scene_description": "A black electric stove sits in a kitchen with granite backsplash; a red-capped seasoning bottle, multiple cookware items, and a light brown wooden spoon on a metal pot are on the stovetop, with a right robotic arm at the right of the frame initially.", "global_instruction_dense": "The right robotic arm moves left toward the wooden spoon resting on the stovetop metal pot, grasps the spoon's handle, lifts the spoon, moves it right to an empty stovetop area, lowers it, and releases it onto the stovetop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 161, "tasks": ["place spoon"], "length": 226, "global_instruction": "Reposition the wooden spoon on the kitchen stovetop.", "scene_description": "In a kitchen, a black electric stove with a dark small pot on one burner is at the center, a light wooden spoon rests on the lower part of the stove, seasoning bottles are on the counter to the right of the stove, a granite patterned backsplash and light wood upper cabinet are behind the stove, a white door is in the background, and a white robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves left from the upper right of the frame toward the wooden spoon on the stove, grasps the spoon, lifts it, moves it to a new position on the stove, releases the spoon, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 162, "tasks": ["place spoon"], "length": 523, "global_instruction": "Remove the glass lid from the black pot, place it on the stove burner, then place the wooden spoon into the black pot.", "scene_description": "A black electric stove is in a kitchen with beige marbled backsplash and light wood upper cabinets. On the stove, a black pot sits on the rear burner, a purple seasoning bottle, a glass lid, and a wooden spoon are present, with a red-capped seasoning bottle on the countertop to the right of the stove.", "global_instruction_dense": "The right robotic arm first grasps and lifts the glass lid off the black pot, moves it to an empty front stove burner, lowers and releases it, then grasps the wooden spoon from the stove, moves it over the black pot, lowers and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 163, "tasks": ["place spoon"], "length": 281, "global_instruction": "Place the wooden spoon into the dark gray pot on the stovetop", "scene_description": "A black stovetop in a kitchen holds a dark gray pot with a wooden spoon inside, a purple spice bottle, and a burner lid, with a red-capped spice bottle on the adjacent counter and a right robotic arm positioned to the right of the stove.", "global_instruction_dense": "The right robotic arm moves toward a wooden spoon, grasps it, lifts and moves it over the dark gray pot on the stovetop, releases it into the pot, then moves back to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 164, "tasks": ["place spoon"], "length": 273, "global_instruction": "Place the wooden cooking spoon into the black pot on the kitchen stovetop.", "scene_description": "In a kitchen, a black stovetop holds a lidded metal pot, a red-capped spice bottle, a small dark-capped spice bottle, and a black pot with a wooden chopstick inside, with a light wooden cabinet mounted above the stovetop, and a robotic arm positioned on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the wooden cooking spoon, grasps it with its gripper, lifts it, moves it over the black pot on the stovetop, lowers it, releases it into the pot, then retracts away from the stovetop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 165, "tasks": ["place spoon"], "length": 180, "global_instruction": "Place the light wooden spoon from the stovetop into the black cooking pot on the stove.", "scene_description": "A black stovetop holds a black cooking pot, a light wooden spoon rests on the stovetop in front of the pot, another wooden spoon sits on spice containers on the adjacent counter, a light wood upper cabinet is above the stone patterned backsplash, and a robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves left toward the light wooden spoon on the stovetop, grasps it, lifts it, moves it over the black pot on the stove, lowers it into the pot, releases the spoon, then moves upward away from the pot.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 166, "tasks": ["place spoon"], "length": 260, "global_instruction": "Pick up the wooden spoon from the stovetop and place it on the kitchen counter next to the red-capped spice bottle.", "scene_description": "A black electric stovetop holds a light wooden spoon, pots, and glass lids; a red-capped spice bottle sits on the adjacent granite kitchen counter, with light wood upper cabinets and a white door in the background, and a white robotic arm is positioned at the right side of the scene.", "global_instruction_dense": "The right robotic gripper moves toward the wooden spoon on the stovetop, grasps it, lifts it, moves it over the kitchen counter near the red-capped spice bottle, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 167, "tasks": ["place spoon"], "length": 169, "global_instruction": "Pick up the slotted wooden cooking spoon and place it on the stove's control panel ledge.", "scene_description": "A kitchen with a black electric stove, a dark lidded pot on the stovetop, a red-capped spice bottle on the granite counter to the stove's right, wooden cooking utensils at the stove front, light wood upper cabinets, and a right robotic arm positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left from its starting position near the counter spice bottle, grasps the slotted wooden cooking spoon at the front of the stove, lifts the spoon, moves it to the black stove's control panel ledge, places it down, releases the spoon, then moves back to its initial right-side position.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 168, "tasks": ["place spoon"], "length": 238, "global_instruction": "Remove the small metal spoon from the clear plastic container and place it on the kitchen countertop.", "scene_description": "A kitchen countertop holds assorted condiment bottles, a light blue bowl, a clear square plastic container with a small metal spoon inside, a black lidded pot on the left, and a robotic arm positioned on the right above the counter.", "global_instruction_dense": "The right robotic arm moves toward the clear square plastic container, grasps the small metal spoon inside it, lifts the spoon out of the container, moves the spoon over the countertop, lowers it, and releases the spoon onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 169, "tasks": ["place spoon"], "length": 906, "global_instruction": "Move the metal spoon into the transparent plastic container, then into the blue bowl, then back into the transparent plastic container.", "scene_description": "A kitchen counter holds a black stove with a pot lid on the left, various condiment bottles, a transparent plastic container, a metal spoon, a blue bowl at the back, a robotic arm on the right, and brown upper cabinets with under-cabinet lights above the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the kitchen counter, grasps it, places it into the transparent plastic container, lifts it out to place into the blue bowl, then lifts it again and places it back into the transparent plastic container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 170, "tasks": ["place spoon"], "length": 457, "global_instruction": "Pick up the metal spoon from the light blue bowl and place it into the pink utensil holder", "scene_description": "A kitchen counter holds various condiment bottles, a light blue bowl with a metal spoon, a small plate with orange scissors, a silver electric kettle, and a pink utensil holder. A black stove is on the left, and wooden upper cabinets are mounted above the counter.", "global_instruction_dense": "The right robotic arm moves toward the light blue bowl on the kitchen counter, grasps the metal spoon inside the bowl, lifts the spoon, moves it toward the pink utensil holder at the right of the counter, and places the spoon into the holder.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 171, "tasks": ["place spoon"], "length": 199, "global_instruction": "Pick up the clear plastic spoon from the measuring cup and place it into the light blue bowl.", "scene_description": "A kitchen counter has a black stove on its far left, assorted condiment bottles, a plate holding orange-handled scissors, a light blue bowl, a clear measuring cup, stacked tableware, a pink cutlery holder, and a black electric kettle, with wooden upper cabinets above the counter, and a robotic arm at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the clear measuring cup on the kitchen counter, grasps the small clear plastic spoon inside the cup, lifts the spoon, moves it over the adjacent light blue bowl, and releases the spoon to drop it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 172, "tasks": ["place spoon"], "length": 219, "global_instruction": "Pick up the spoon on the light blue plate and place it into the light blue bowl", "scene_description": "A black electric stove with a silver pot (with glass lid and black handle) sits on the left of a kitchen counter. The counter holds assorted condiment bottles, a light blue bowl, a light blue plate with a metal spoon resting on it, orange-handled scissors, stacked dishes, and a gray robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the light blue plate, grasps the metal spoon on the plate, lifts the spoon, moves it over the adjacent light blue bowl, then lowers and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 173, "tasks": ["place spoon"], "length": 433, "global_instruction": "Remove the metal spoon from the front light blue bowl and place it on the adjacent white plate.", "scene_description": "A kitchen countertop holds assorted condiment bottles, two light blue bowls (a metal spoon sits in the closer front light blue bowl), a white plate next to the front bowl, a silver electric kettle, a pink knife block with utensils, scissors, and small white bowls; a black stove with a lidded black pot is on the left of the counter, and a 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 front light blue bowl, grasps the metal spoon inside the bowl, lifts the spoon out of the bowl, moves it over the adjacent white plate, releases the spoon onto the plate, then moves slightly away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 174, "tasks": ["place spoon"], "length": 178, "global_instruction": "Take the white plastic spoon out of the clear container and place it on the container's lid.", "scene_description": "A light grey kitchen counter holds condiment bottles, two light blue bowls, a clear plastic container with its light blue lid beside it, a silver kettle, stacked bowls on the right, and a black stovetop with a glass-lidded pot on the left. A robotic arm is positioned at the right edge near the stacked bowls.", "global_instruction_dense": "The right robotic arm moves left toward the clear plastic container on the kitchen counter, grasps the white plastic spoon inside the container, lifts the spoon out of the container, moves it over the light blue lid next to the container, and releases the spoon onto the lid.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 175, "tasks": ["place spoon"], "length": 805, "global_instruction": "Retrieve a spoon from a light blue bowl and place it into the clear plastic container on the kitchen counter.", "scene_description": "A kitchen with light wood upper cabinets, a black electric stove with a glass-lidded pot on the left, a countertop holding condiment bottles, a silver electric kettle, multiple light blue bowls, a light blue oval lid, a clear plastic container, an orange peeler, and a pink knife block, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward a light blue bowl on the kitchen counter, grasps the spoon inside the bowl, lifts the spoon, moves it to a light blue oval lid and releases the spoon onto the lid, then grasps the spoon from the lid, lifts it, and places it into the clear plastic container next to the lid.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 176, "tasks": ["place spoon"], "length": 190, "global_instruction": "Place the spoon from the light blue plastic lid into the adjacent transparent plastic container.", "scene_description": "A kitchen countertop with upper wooden cabinets, a black stove on the left, various condiment bottles, light blue bowls, a silver kettle, a pink knife holder, a transparent plastic container next to its light blue lid with a spoon on top, and a robotic arm at the upper right corner.", "global_instruction_dense": "The right robotic arm moves from the upper right of the frame toward the counter, lowers to grasp the spoon on the light blue plastic lid, lifts the spoon, moves it over the adjacent transparent plastic container, and releases the spoon into the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 177, "tasks": ["place spoon"], "length": 243, "global_instruction": "Pick up the metal spoon from the clear plastic container and place it onto the adjacent light blue lid.", "scene_description": "A kitchen counter holds various condiment bottles, light blue bowls, a clear plastic container with a metal spoon inside, a light blue lid next to the container, a pink knife block, and an electric kettle, with wooden upper cabinets above the counter.", "global_instruction_dense": "The right robotic arm moves down from the top right of the frame toward the clear plastic container on the kitchen counter, grasps the metal spoon inside the container, lifts the spoon, moves it over the light blue lid next to the container, lowers the spoon, and releases it onto the lid.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 178, "tasks": ["place spoon"], "length": 213, "global_instruction": "Pick up the metal spoon from the light blue plate and place it into the light blue bowl.", "scene_description": "A light gray kitchen counter holds condiment bottles on the left, a light blue plate with a metal spoon, a clear plastic container, multiple bowls, a black kettle, a pink knife block, and a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the light blue plate, grasps the spoon with its gripper, lifts it, moves it over the nearby light blue bowl, lowers the spoon into the bowl, and releases it inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 179, "tasks": ["place spoon"], "length": 326, "global_instruction": "Pick a spoon from a light blue bowl and place it on a plastic container lid.", "scene_description": "A grey speckled kitchen counter holds a black microwave on the left, assorted condiment bottles, multiple light blue bowls, a silver electric kettle, a pink knife block with utensils, white bowls, a blue dish rack, plastic storage containers, and orange scissors, with wooden upper cabinets above and under-cabinet LED lights illuminated.", "global_instruction_dense": "The right robotic arm moves left from the top right of the frame, lowers into a light blue bowl on the counter, grasps a metal spoon, lifts it out of the bowl, moves left to above a clear plastic container's light blue lid, and releases the spoon onto the lid.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 180, "tasks": ["place spoon"], "length": 195, "global_instruction": "Pick up the silver spoon from the light blue plate and place it into the transparent plastic container", "scene_description": "A kitchen counter has multiple seasoning bottles on the left, light blue bowls, a silver spoon on a light blue plate, a transparent plastic container next to the plate, a black oven on the far left, and upper wooden cabinets with an under-cabinet light. A robotic gripper is positioned at the top right.", "global_instruction_dense": "The right robotic gripper moves toward the silver spoon on the light blue plate on the kitchen counter, grasps the spoon, lifts it, moves it over the adjacent transparent plastic container, lowers it, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 181, "tasks": ["place spoon"], "length": 493, "global_instruction": "Place the metal spoon from the plate into the front light blue bowl.", "scene_description": "A kitchen counter has a black coffee machine on the far left, assorted condiment bottles to the right of the machine, a light blue bowl at the front center, a plate with a metal spoon next to the bowl, an orange peeler, stacked dishes, a pink utensil holder at the back right, and a robotic arm positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the plate holding a metal spoon, grasps the spoon, lifts it, moves it over the front light blue bowl, releases the spoon into the bowl, then moves toward other objects on the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 182, "tasks": ["place spoon"], "length": 245, "global_instruction": "Take a spoon from the front light blue bowl and place it on the adjacent plastic plate.", "scene_description": "A kitchen counter holds various condiment bottles on the left, a light blue bowl at the front, a plastic plate behind the bowl, an electric kettle, a pink knife block, stacked bowls, a white cutting board, and cups on the right, with wooden upper cabinets above, and a right robotic arm initially at the top right edge of the frame.", "global_instruction_dense": "The right robotic arm moves from the top right of the frame down toward the front light blue bowl, grasps the spoon inside the bowl, lifts the spoon out of the bowl, moves the spoon over the adjacent plastic plate, and releases the spoon onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 183, "tasks": ["place spoon"], "length": 208, "global_instruction": "Place the metal spoon from the plate into the clear plastic container on the kitchen counter.", "scene_description": "A speckled kitchen counter holds assorted condiment bottles, multiple light blue bowls, a plate with a metal spoon, a clear plastic container, and a black coffee maker on the far left. Wooden upper cabinets with under-cabinet LED lighting are mounted above the counter, and a robotic gripper is positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic gripper moves leftward and downward toward the metal spoon resting on the plate, grasps the spoon, lifts it, moves it rightward over the clear plastic container, and releases the spoon to drop it into the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 184, "tasks": ["place spoon"], "length": 223, "global_instruction": "Place the metal spoon from the clear plastic container into the front light blue bowl.", "scene_description": "A light gray kitchen counter holds assorted seasoning bottles on the left, multiple blue bowls, a clear plastic container with a metal spoon inside, a pink knife block with utensils, a white cutting board, and a sink with a purple soap dispenser, below light wood upper cabinets, with a robotic gripper at the top right edge of the frame.", "global_instruction_dense": "The right robotic arm moves down and left toward the clear plastic container on the counter, grasps the metal spoon inside the container, lifts the spoon, moves it to the front light blue bowl, and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 185, "tasks": ["place spoon"], "length": 429, "global_instruction": "Remove the spoon from the light blue bowl and place it on the counter near the stacked dishware.", "scene_description": "A grey kitchen counter holds various condiment bottles on its left side, a light blue bowl with a spoon inside at its center, an electric kettle, a pink knife block, and stacked dishware on its right side, with a robotic arm in the top right corner.", "global_instruction_dense": "The right robotic arm moves from the top right of the scene toward the light blue bowl, tilts the bowl to access the spoon inside, grasps and lifts the spoon out of the bowl, moves the spoon right toward the stacked dishware, and places the spoon on the counter next to the stacked bowls.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 186, "tasks": ["place spoon"], "length": 240, "global_instruction": "Place a metal spoon into the light blue bowl with cut food on the kitchen counter.", "scene_description": "A kitchen counter holds various condiment bottles, multiple blue bowls, stacked bowls, a silver electric kettle, a pink knife block, plastic containers, and a white cutting board, with brown upper cabinets above the counter.", "global_instruction_dense": "The right robotic arm enters the kitchen counter area, grasps a metal spoon from the counter, moves it over the front light blue bowl holding cut red food pieces, and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 187, "tasks": ["place spoon"], "length": 420, "global_instruction": "Place the white plastic spoon on the table into the clear long tray", "scene_description": "A light brown wooden table is against a beige wall, with a black-white checkerboard calibration board, a blue plastic bottle, a green printed tote bag, assorted snack packs, a roll of white paper towels, multiple plastic bottles, a clear long tray, a white plastic spoon, and a small white paper placed on the table. A wooden chair sits behind the table, a cleaning tool leans in the far corner, and a robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm lowers toward the white plastic spoon on the right side of the table, grasps the spoon with its gripper, lifts the spoon, moves it leftward over the clear long tray, lowers the spoon into the tray, releases the spoon, then lifts its gripper above the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 188, "tasks": ["place spoon"], "length": 340, "global_instruction": "Place the wooden spoon on the kitchen counter into the silver electric pressure cooker.", "scene_description": "A kitchen granite countertop has a black stovetop with a white pot on the left, a silver electric pressure cooker adjacent to the sink, a wooden spoon on the counter between the cooker and the sink, a sink with a green cleaning sponge, light wood upper cabinets, and assorted items on the right side of the counter, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic gripper descends toward the wooden spoon on the kitchen counter, grasps it, lifts it up, moves it over the silver electric pressure cooker, lowers it into the cooker, and releases the spoon to rest inside the cooker.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 189, "tasks": ["place spoon"], "length": 262, "global_instruction": "Take the wooden spoon out of the stainless steel pot and place it on the kitchen countertop.", "scene_description": "A black stove with a white pot sits on the left, a stainless steel pot with a wooden spoon inside, a sink with a sponge, a soap bottle, and paper towel are on the granite kitchen countertop, with a robotic arm positioned above the sink area.", "global_instruction_dense": "The right robotic arm moves toward the wooden spoon in the stainless steel pot on the counter, grasps the spoon, lifts it out of the pot, moves it over the counter, lowers and releases it onto the counter, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 190, "tasks": ["place spoon"], "length": 254, "global_instruction": "Pick up the wooden spoon on the counter and place it into the silver electric pressure cooker.", "scene_description": "A kitchen granite counter holds a black stovetop (with a white pot on it) on the left, a silver electric pressure cooker to the right of the stovetop, a wooden spoon on the counter between the cooker and the sink, a black sink with a green sponge inside, and a robotic arm above the right counter area. Light wood cabinets are mounted on the wall above the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the wooden spoon on the counter, grasps it, lifts it, moves it over the silver electric pressure cooker, lowers the spoon into the cooker, releases it, then moves back up away from the cooker.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 191, "tasks": ["place spoon"], "length": 304, "global_instruction": "Take the wooden spoon out of the silver electric cooker and place it on the kitchen counter.", "scene_description": "A kitchen counter has a black electric stove with a white cooking pot on its left burner, a silver electric cooker between the stove and the sink, a green sponge in the sink, a soap dispenser next to the sink faucet, paper towels and containers on the right counter, wooden upper cabinets above, and a right robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the silver electric cooker on the kitchen counter, grasps the wooden spoon inside the cooker, lifts the spoon out of the cooker, moves it over the adjacent counter surface, lowers the spoon, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 192, "tasks": ["place spoon"], "length": 271, "global_instruction": "Place the wooden spoon on the kitchen counter into the silver electric pressure cooker.", "scene_description": "A kitchen counter has a black stove with a white pot on its left burner, a silver electric pressure cooker next to the stove, a light brown wooden spoon between the pressure cooker and a stainless steel sink, a white soap dispenser by the sink, and assorted kitchen items to the sink's right, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the wooden spoon on the counter, grasps and lifts the spoon, moves it over the open silver pressure cooker, lowers the spoon into the cooker, and releases it to leave the spoon inside the cooker.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 193, "tasks": ["place spoon"], "length": 226, "global_instruction": "Remove the wooden spoon from the rice cooker and place it on the kitchen counter.", "scene_description": "A kitchen granite countertop holds a black electric stove with a white pot on its left burner, a stainless steel rice cooker containing a wooden spoon next to a sink (with a blue sponge, faucet, and soap dispenser), a paper towel roll and assorted containers on the right side of the counter, with a robotic arm positioned above the rice cooker.", "global_instruction_dense": "The right robotic arm moves downward from its position above the rice cooker, grasps the wooden spoon inside the cooker, lifts the spoon out of the cooker, moves it to the adjacent countertop, releases it onto the counter, then moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 194, "tasks": ["place spoon"], "length": 158, "global_instruction": "Remove the black spoon from the brown paper cup and place it on the workbench.", "scene_description": "A light wooden workbench holds a red-and-black tool case (left), a grey multi-drawer parts organizer (far left), scattered wires and small tools, a brown paper cup with a black spoon inside (center-right), and a white robotic arm at the upper right, with electronic equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the brown paper cup, grasps the black spoon inside the cup, lifts the spoon out of the cup, moves the spoon left of the cup, and releases it onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 195, "tasks": ["place spoon"], "length": 170, "global_instruction": "Place a brown wooden spoon from the dark utensil holder onto the kitchen counter.", "scene_description": "A light wooden upper cabinet sits above a speckled granite kitchen counter. A stainless steel microwave is mounted above a stove with a metal frying pan on the stovetop to the left of the counter. Two perforated metal utensil holders rest on the counter: one holds light-colored utensils, the other holds dark brown wooden utensils, with a stack of round yellow coasters positioned behind them. A robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The left robotic arm moves from the upper right toward the metal utensil holder containing dark brown utensils, grasps a brown wooden spoon, lifts it out of the holder, moves it over the granite counter, lowers it, releases it onto the counter surface, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 196, "tasks": ["place spoon"], "length": 523, "global_instruction": "Place the wooden spoon from the kitchen counter into the silver utensil holder with dark utensils.", "scene_description": "A granite kitchen counter holds two silver utensil holders with cooking utensils, a wooden spoon resting on the counter, a silver frying pan on a stove beneath a stainless steel microwave, and light wooden upper cabinets. A left robotic arm is positioned above the right edge of the counter.", "global_instruction_dense": "The left robotic gripper moves toward the wooden spoon on the granite kitchen counter, grasps the spoon, lifts it, moves it over the silver utensil holder filled with dark cooking utensils, lowers the spoon into the holder, releases it, and moves upward away from the holder.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 197, "tasks": ["place spoon"], "length": 237, "global_instruction": "Take the slotted wooden spoon from the utensil caddy and place it on the kitchen counter.", "scene_description": "A granite kitchen counter holds a perforated stainless steel utensil caddy with multiple cooking utensils, a stainless steel frying pan sits on the adjacent stovetop under an over-the-range microwave, with wooden cabinets mounted above the counter.", "global_instruction_dense": "The left robotic arm moves down to the utensil caddy, grasps the slotted wooden spoon inside it, lifts the spoon out of the caddy, moves it over the empty counter space, lowers the spoon, releases it onto the counter, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 198, "tasks": ["place spoon"], "length": 345, "global_instruction": "Pick up the wooden spoon on the kitchen counter and place it into the perforated metal utensil holder.", "scene_description": "In a kitchen, a stainless steel microwave is mounted above a stove with a metal frying pan on its burner. The granite countertop holds a perforated silver utensil holder filled with kitchen tools, a wooden spoon lying on the counter to the right of the holder, and a stack of yellow round coasters in the far counter corner. A robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the wooden spoon on the kitchen counter, grasps and lifts the spoon, moves it over the perforated silver utensil holder, lowers the spoon into the holder, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 199, "tasks": ["place spoon"], "length": 218, "global_instruction": "Take the brown wooden slotted spoon out of the utensil caddy and place it on the kitchen counter.", "scene_description": "A granite kitchen counter holds a perforated metal utensil caddy with a brown wooden slotted spoon and other cooking utensils, adjacent to a stainless steel oven with a silver frying pan on its stovetop, wooden upper cabinets are mounted above the counter, and a left robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The left robotic arm moves left toward the metal utensil caddy on the counter, grasps the brown wooden slotted spoon inside the caddy, lifts the spoon out of the caddy, moves it over the empty counter surface, lowers the spoon down to the counter, releases it to rest on the counter, then lifts its gripper away from the placed spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 200, "tasks": ["place spoon"], "length": 480, "global_instruction": "Pick up the wooden spoon from the kitchen counter and place it into the metal utensil holder.", "scene_description": "A granite kitchen counter holds a stainless steel frying pan on the stove to the left, a perforated metal utensil holder filled with assorted cooking tools, a wooden spoon lying on the countertop, and a right robotic arm positioned above the right side of the counter, with wooden upper cabinets and under-cabinet lighting in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the wooden spoon on the kitchen counter, adjusts its position multiple times to securely grasp the spoon, lifts the spoon, moves it over the metal utensil holder, lowers it into the holder, releases the spoon, and moves its gripper back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 201, "tasks": ["place spoon"], "length": 242, "global_instruction": "Take a slotted wooden spoon from the utensil holder and place it on the kitchen counter.", "scene_description": "A kitchen granite counter holds a perforated metal utensil holder filled with cooking utensils, a stainless steel frying pan sits on the stove to the left of the counter, and a right robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal utensil holder on the kitchen counter, grasps a slotted wooden spoon from inside the holder, lifts the spoon out, moves it over the empty counter area, lowers the spoon, releases it onto the counter, then lifts its gripper away from the placed spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 202, "tasks": ["place spoon"], "length": 609, "global_instruction": "Pick up the wooden spoon from the kitchen counter and place it into the stainless steel utensil holder.", "scene_description": "A speckled granite kitchen counter holds a stainless steel utensil holder filled with cooking tools, a loose wooden spoon lying on the counter, and a silver frying pan on the stove to the left, with wooden cabinets mounted above the counter and a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the wooden spoon on the kitchen counter, adjusts its position to grasp the spoon, lifts it upward, moves it over the stainless steel utensil holder, lowers the spoon into the holder, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 203, "tasks": ["place spoon"], "length": 231, "global_instruction": "Pick a wooden spoon from the utensil caddy and place it on the kitchen countertop.", "scene_description": "A granite kitchen countertop holds a perforated stainless steel utensil caddy filled with dark wooden cooking utensils, a stainless steel frying pan rests on the stovetop to the left of the caddy, light wooden cabinets are mounted above the counter, and a robotic arm is positioned above the counter near the caddy.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel utensil caddy, opens its gripper, grasps a dark wooden spoon from inside the caddy, lifts the spoon, moves it over the empty counter space next to the caddy, lowers the spoon, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 204, "tasks": ["place spoon"], "length": 434, "global_instruction": "Place the dark brown wooden spoon from the counter into the adjacent metal utensil holder holding wooden utensils.", "scene_description": "A granite kitchen countertop has a stainless steel frying pan on the left stovetop, two perforated metal utensil holders (one with metal utensils, one with wooden utensils) against the wall, and a dark brown wooden spoon resting on the counter beside the holders, with a robotic arm positioned at the right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the dark brown wooden spoon on the kitchen counter, grasps it with its gripper, lifts the spoon, moves it over the metal utensil holder containing other wooden utensils, lowers the spoon into the holder, and releases it to complete the placement.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 205, "tasks": ["place spoon"], "length": 361, "global_instruction": "Pick up the wooden spoon on the kitchen counter and place it into the perforated metal utensil holder", "scene_description": "A speckled granite kitchen counter has a stainless steel frying pan on the left stove, two perforated metal utensil holders with utensils, and a wooden spoon lying on the counter to the right of the holders, with a white robotic arm positioned above the counter near the spoon.", "global_instruction_dense": "The right robotic gripper moves down toward the wooden spoon on the kitchen counter, grasps the spoon, lifts it, moves it over the perforated metal utensil holder, lowers the spoon into the holder, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 206, "tasks": ["place spoon"], "length": 325, "global_instruction": "Pick the silver spoon from the orange napkin and place it into the open wooden drawer.", "scene_description": "A black electric kettle, white plastic cup, orange napkin holding a silver spoon, and open wooden drawer are arranged on a dark marble countertop; a brown cardboard box leans against the white wall behind the counter.", "global_instruction_dense": "The right robotic arm moves down toward the silver spoon on the orange napkin, grasps the spoon, lifts it, moves it right over the open wooden drawer, and releases the spoon into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 207, "tasks": ["place spoon"], "length": 329, "global_instruction": "Pick up the silver spoon from the orange napkin and place it into the open wooden drawer.", "scene_description": "A dark marble countertop holds a black electric kettle on the left, a white plastic cup at the center, an orange napkin with a silver spoon on it to the cup's right, and a brown cardboard box against the back wall; an open wooden drawer with two compartments (one red-lined, one holding white paper) sits to the right of the counter in an office space.", "global_instruction_dense": "The right robotic arm moves into view above the countertop, descends to grasp the silver spoon on the orange napkin, lifts the spoon, moves it over the open wooden drawer, and releases it into the drawer's red lined compartment.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 208, "tasks": ["place spoon"], "length": 314, "global_instruction": "Place the white spoon resting on the orange napkin into the open wooden drawer.", "scene_description": "A dark marble kitchen counter holds a black electric kettle at the left, an orange napkin with a white spoon on it at the center, a small white cup behind the kettle, and an open two-compartment wooden drawer (with red lining in one compartment, white paper in the other) to the right of the napkin, with an office area in the background.", "global_instruction_dense": "The right robotic arm enters the scene from the background, moves down to the white spoon on the orange napkin, grasps the spoon, lifts it, moves it over the open wooden drawer, releases the spoon into the drawer, then lifts slightly away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 209, "tasks": ["place spoon"], "length": 274, "global_instruction": "Pick up the silver spoon on the orange placemat and place it into the open drawer.", "scene_description": "A black electric kettle, a white mug, and an orange placemat with a silver spoon on it are placed on a dark marble kitchen countertop. An open white drawer with an empty red-lined compartment and a white cloth in another compartment sits below the right side of the countertop.", "global_instruction_dense": "The right robotic gripper moves toward the silver spoon on the orange placemat, grasps and lifts the spoon, moves it over the open drawer, and releases it into the drawer's upper compartment.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 210, "tasks": ["place spoon"], "length": 328, "global_instruction": "Place the white spoon resting on the orange napkin into the open drawer.", "scene_description": "A black electric kettle, a white cup, an orange napkin with a white spoon on it, and an open light wood drawer are arranged on a dark marble countertop. The kettle is on the left side of the counter, the cup is behind the kettle, the napkin is to the right of the kettle, and the drawer is to the right of the napkin.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves toward the white spoon on the orange napkin, grasps the spoon, adjusts its grip after briefly lifting the napkin, moves the spoon rightward over the open drawer, lowers the spoon, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 211, "tasks": ["place spoon"], "length": 507, "global_instruction": "Place the metal spoon from the black countertop utensil organizer into the open drawer below the counter.", "scene_description": "A dark marble kitchen counter holds a red-capped Coffee-mate bottle, black pour-over kettle, white mug on a red coaster, and a black utensil organizer with a metal spoon. An open drawer under the counter contains a wooden tray, and a trash bin sits beside the organizer.", "global_instruction_dense": "The right robotic gripper moves toward the metal spoon in the black countertop utensil organizer, grasps and extracts the spoon, moves it over the open drawer under the counter, and releases the spoon into the wooden tray inside the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 212, "tasks": ["place spoon"], "length": 255, "global_instruction": "Place the metal spoon from the black utensil organizer into the tray inside the open drawer.", "scene_description": "A dark marble kitchen counter holds a large black-and-silver appliance on the far left, a black electric kettle, a beige container with a red lid, a black utensil organizer containing a metal spoon, and an open white drawer with a light wood interior holding a white-and-red tray, with an office area and yellow door in the background.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon in the black utensil organizer, grasps the spoon, lifts it out of the organizer, moves it over the open drawer, lowers it into the white-and-red tray inside the drawer, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 213, "tasks": ["place spoon"], "length": 455, "global_instruction": "Pick up the wooden spoon from the countertop and place it into the dishwasher's wire rack.", "scene_description": "An open dishwasher with a wire dish rack holding metal bowls, plastic containers and a red-handled item sits below a white countertop. The countertop has a light wooden spoon, blue dishware and a metal bowl. A robotic gripper is positioned above the countertop, the robot's base with blue indicator lights is at the left frame edge, a grey wall is in the background, and a fridge is at the right edge.", "global_instruction_dense": "The right robotic gripper moves down to grasp the wooden spoon on the countertop above the dishwasher, lifts it, moves it over the dishwasher's wire dish rack, lowers it, and releases it into the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 214, "tasks": ["place spoon"], "length": 262, "global_instruction": "Remove the spoon from the brown coffee cup and place it on the wooden table.", "scene_description": "A light wooden table with a white base holds a black square device on its left half, a brown coffee cup with a white lid and a spoon inside at its center-right, and a robotic arm is positioned above the table's rear edge.", "global_instruction_dense": "The left robotic arm lowers to grasp the spoon inside the brown coffee cup, lifts the spoon out of the cup, moves it leftward over the table, and releases it onto the table surface between the black device and the coffee cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 215, "tasks": ["place spoon"], "length": 189, "global_instruction": "Take the black spoon out of the dark brown paper cup and place it on the wooden tabletop next to the cup.", "scene_description": "A light yellow rectangular block is on the left of a light wooden tabletop, a dark brown paper cup with a black spoon inside is at the table center, and black electronic devices are at the far end of the table, with glass cabinets and a wooden shelf in the background left and robotic equipment in the background right.", "global_instruction_dense": "The right robotic gripper moves toward the black spoon inside the dark brown paper cup, grasps the spoon, lifts it out of the cup, moves it to the right of the cup, and releases it onto the wooden tabletop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 216, "tasks": ["place spoon"], "length": 156, "global_instruction": "Remove the spoon from the brown paper cup and place it on the wooden tabletop.", "scene_description": "A wooden worktable has a pale yellow rectangular foam block on its left side, a brown paper cup with a spoon inside on its center-right, and a robotic arm at its right edge; background includes a glass cabinet, wooden shelf and other lab equipment.", "global_instruction_dense": "The right robotic gripper moves toward the brown paper cup on the worktable, grasps the spoon inside the cup, lifts the spoon out of the cup, moves the spoon to the right of the cup, then lowers and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 217, "tasks": ["place spoon"], "length": 128, "global_instruction": "Remove the black spoon from the brown cup and place it on the tabletop.", "scene_description": "A light wooden tabletop holds a pale yellow rectangular block on the left, a brown paper cup with a black spoon inside to the right of the block, and small black equipment behind the cup, with a robotic arm positioned above the far end of the table.", "global_instruction_dense": "The left robotic arm moves toward the black spoon in the brown paper cup, grasps the spoon, lifts it out of the cup, moves it rightward to the side of the cup, and places it on the wooden tabletop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 218, "tasks": ["place spoon"], "length": 166, "global_instruction": "Remove the spoon from the black paper cup and place it on the worktable surface.", "scene_description": "A light wooden worktable holds a brown cardboard box on its left edge, a black paper cup with white inner lining at its center, small black hardware parts, and a black rectangular box at its far end. A mobile robotic arm is positioned above the upper right of the table, with a static robotic arm visible at the far right of the scene.", "global_instruction_dense": "The left robotic arm moves downward toward the black paper cup on the worktable, inserts its gripper into the cup to grasp the spoon inside, lifts the spoon out of the cup, moves the spoon slightly rightward, lowers it to place it on the table next to the cup, then releases the spoon and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 219, "tasks": ["place spoon"], "length": 169, "global_instruction": "Remove the spoon from the paper cup and place it on the workbench surface.", "scene_description": "A light wooden workbench holds a brown cardboard box and a dark brown paper cup with a white top and metal spoon inside. Robotic arms are positioned to the right of the workbench, with wooden shelves holding orange storage boxes and glass cabinets in the background.", "global_instruction_dense": "The left robotic gripper moves down toward the paper cup on the workbench, grasps the spoon inside the cup, lifts the spoon out of the cup, moves it to an empty area on the workbench, and releases the spoon onto the workbench.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 220, "tasks": ["place spoon"], "length": 159, "global_instruction": "Take the spoon out of the brown cup and place it on the wooden table.", "scene_description": "A light wooden table with a white base holds a pale yellow block, a dark brown paper cup with a white interior that contains a metal spoon, and small equipment in the background, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the spoon inside the dark brown cup on the table, grasps the spoon, lifts it out of the cup, moves it to the empty table area beside the cup, and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 221, "tasks": ["place spoon"], "length": 138, "global_instruction": "Remove the silver spoon from the brown paper cup and place it on the wooden table.", "scene_description": "A light wooden table holds a pale yellow rectangular block on its left side, and a brown paper cup with a silver spoon inside to the right of the block, in an office workspace with glass cabinets and robotic equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the silver spoon inside the brown paper cup, grasps the spoon, lifts it out of the cup, moves it rightward over the table, and releases it to place the spoon on the table surface to the right of the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 222, "tasks": ["place spoon"], "length": 352, "global_instruction": "Place the wooden spoon from the countertop utensil holder into the pot on the stove.", "scene_description": "A dark blue copper-lined pot sits on a black electric kitchen stove, with a utensil holder holding wooden cooking tools to the right of the stove, and a dual-arm robotic manipulator positioned left of the stove.", "global_instruction_dense": "The right robotic arm reaches toward the wooden spoon in the utensil holder to the right of the stove, grasps the spoon, lifts it, moves it over the dark blue pot on the stove, lowers the spoon into the pot, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 223, "tasks": ["place spoon"], "length": 178, "global_instruction": "Take the black spoon out of the white mug and place it on the blue table", "scene_description": "A round table covered with a dark blue tablecloth sits in the center, holding a white mug with a black spoon inside and a clear rectangular box. A white left robotic arm is positioned to the left of the table next to an orange bucket holding wooden sticks, a wooden stool is to the right of the table, and background includes tripods, equipment, and a computer with blue lights on the far left.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the blue table, grasps the black spoon inside the mug, lifts the spoon out of the mug, moves it over the left side of the table, and releases it onto the blue tabletop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 224, "tasks": ["place spoon"], "length": 205, "global_instruction": "Remove the teal spoon from the white bowl and place it on the table next to the bowl.", "scene_description": "A round light wooden table has a white bowl on its left side, a crumpled gray sweatshirt to the right of the bowl, a teal spoon inside the bowl, with black office chairs surrounding the table.", "global_instruction_dense": "The right robotic gripper moves toward the white bowl on the wooden table, grasps the teal spoon inside the bowl, lifts the spoon, moves it to the area left of the bowl, lowers and releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 225, "tasks": ["place spoon"], "length": 219, "global_instruction": "Take the spoon out of the white mug and place it on the upper white lace doily.", "scene_description": "A white robotic arm base sits on a black left worktable. An adjacent blue cloth-covered table holds a white mug with a spoon inside, three white lace doilies, two small white paper squares, a small printed sticker, and a dark blue garment at the far right.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the blue cloth table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it to the upper white lace doily, places the spoon on the doily, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 226, "tasks": ["place spoon"], "length": 175, "global_instruction": "Remove the white spoon from the green-banded mug and place it on the white table.", "scene_description": "A white round table holds a white mug with a green decorative band containing a white spoon, several brown napkins, pink sticky notes, a small brown sugar packet, and a small drink sachet. An orange patterned sofa is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the white spoon inside the green-banded mug, grasps the spoon, lifts it out of the mug, moves it to the left side of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 227, "tasks": ["place spoon"], "length": 171, "global_instruction": "Remove the white spoon from the mug and place it on the white table.", "scene_description": "A white round table holds a green-and-white mug, multiple brown napkins, pink slips, a small yellow tea packet, and a small brown tag. An orange sofa sits to the right of the table, with dark carpet on the floor and people seated in the distant background.", "global_instruction_dense": "The right robotic arm moves toward the mug on the round white table, grasps the white spoon inside the mug, lifts the spoon out, moves it to the left side of the table, and places the spoon on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 228, "tasks": ["place spoon"], "length": 160, "global_instruction": "Remove the white spoon from the mug and place it on the white table.", "scene_description": "A white round table sits next to an orange patterned sofa. On the table are a green-and-white mug with a white spoon inside, multiple brown napkins, a brown sugar packet, a yellow tea bag packet, and pink sticky notes. A black robotic platform is to the left of the table, and people sit on a distant red chair.", "global_instruction_dense": "The right robotic arm moves toward the green-and-white mug on the table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the left side of the table, and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 229, "tasks": ["place spoon"], "length": 172, "global_instruction": "Take the white spoon out of the patterned cup and place it on the white table", "scene_description": "A white round table holds a green and white patterned cup with a white spoon inside, three brown napkins, two pink sticky notes, a small brown sachet, and a tea bag packet. A red textured sofa sits to the right of the table on dark grey carpeting.", "global_instruction_dense": "The right robotic arm moves toward the white spoon inside the green patterned cup on the white table, grasps the spoon, lifts it out of the cup, moves it over the empty surface of the table, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 230, "tasks": ["place spoon"], "length": 188, "global_instruction": "Remove the white spoon from the mug and place it on the white table.", "scene_description": "A white round table holds a green-and-white mug with a white spoon inside, three brown napkins, a small yellow packet, a brown sugar packet, and two pink sticky notes. An orange textured couch is to the right of the table, with dark grey carpet in the background.", "global_instruction_dense": "The right robotic arm moves toward the white spoon inside the mug on the table, grasps the spoon, lifts it out of the mug, moves it over the table surface, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 231, "tasks": ["place spoon"], "length": 196, "global_instruction": "Remove the green spoon from the plastic cup and place it on the left light yellow paper sheet on the table.", "scene_description": "A dark gray office table holds a clear plastic cup with a green spoon inside, two light yellow paper sheets, a small white vase with dark red flowers, two black remote controls, and white napkins. A robotic arm is positioned at the upper left of the frame, with office equipment and furniture in the background.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup on the table, grasps the green spoon inside the cup, lifts the spoon out of the cup, moves it over the left light yellow paper sheet, and releases the spoon onto the paper sheet.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 232, "tasks": ["place spoon"], "length": 148, "global_instruction": "Remove the black spoon from the white mug and place it on the white table surface.", "scene_description": "A white table holds a roll of gray tape, a white mug with green trim containing a black spoon, a dark blue garment, a red garment, and two small beige cloths. A wooden table with yellow items sits to the left of the white table, with a robotic arm positioned above the wooden table initially.", "global_instruction_dense": "The left robotic arm moves from above the left wooden table toward the white mug on the white table, grasps the black spoon inside the mug, lifts the spoon out of the mug, and places the spoon onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 233, "tasks": ["place spoon"], "length": 163, "global_instruction": "Remove the black spoon from the white mug and place it on the white tabletop.", "scene_description": "A white table holds a roll of gray tape, a white mug with a green band (containing a black spoon), a dark blue folded garment, a small beige cloth, and a red cloth behind the garment. A robotic arm is positioned to the left of the white table, with wooden tables in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the white table, lowers into the mug to grasp the black spoon, lifts the spoon out of the mug, moves it slightly leftward, and places it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 234, "tasks": ["place spoon"], "length": 150, "global_instruction": "Pick the black spoon from the white mug and place it on the white table.", "scene_description": "A white table holds a roll of gray tape, a small beige cloth, a red fabric piece, a dark blue fabric piece, and a white mug with green rim containing a black spoon, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the table, lowers its gripper into the mug to grasp the black spoon inside, lifts the spoon out of the mug, moves it leftward, and releases it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 235, "tasks": ["place spoon"], "length": 146, "global_instruction": "Take the black spoon out of the green-rimmed white mug and place it on the white table.", "scene_description": "A white table holds a roll of gray tape, a white mug with a green rim containing a black spoon, a folded dark blue cloth, and a folded red cloth, with light brown wooden tables adjacent to it and a robotic arm at the left of the view.", "global_instruction_dense": "The right robotic gripper moves toward the green-rimmed white mug, grasps the black spoon inside it, lifts the spoon out of the mug, moves it over the white table, and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 236, "tasks": ["place spoon"], "length": 160, "global_instruction": "Pick the orange spoon from the beige bowl and place it on the white table.", "scene_description": "A white table sits beside a robotic arm on its left; the table holds a roll of grey tape, a beige bowl with an orange spoon inside, stacked brown paper sheets, a red cloth, and a dark blue cloth, with a wooden table of miscellaneous items in the background.", "global_instruction_dense": "The right robotic arm moves toward the beige bowl on the white table, grasps the orange spoon inside the bowl, lifts the spoon out of the bowl, and places it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 237, "tasks": ["place spoon"], "length": 195, "global_instruction": "Remove the silver spoon from the white bowl and place it on the white table.", "scene_description": "A light brown wooden table and a white table are in the workspace. The wooden table holds a red cloth, gray tape, small yellow items, and a black bag. The white table holds a white bowl with a silver spoon inside, a beige paper piece, and a dark blue cloth, with a robotic arm positioned to the left of the tables.", "global_instruction_dense": "The left robotic arm moves toward the white bowl on the white table, grasps the silver spoon inside the bowl, lifts the spoon out of the bowl, and places it on the surface of the white table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 238, "tasks": ["place spoon"], "length": 171, "global_instruction": "Remove the spoon from the mug, place it on the table, then adjust the position of the mug on the table.", "scene_description": "A light brown round wooden table holds a white mug with a green stripe, a crumpled blue cloth, a crumpled coral-colored cloth, and a white scalloped plate, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the white mug with a green stripe on the round wooden table, grasps the spoon inside the mug, lifts the spoon out of the mug, places it on the table surface, then grasps the mug and shifts it slightly to a new position on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 239, "tasks": ["place spoon"], "length": 227, "global_instruction": "Take the spoon out of the mug and place it on the wooden table.", "scene_description": "A light-colored round wooden table is surrounded by black office chairs. On the table, there is a white mug with green trim, a dark blue cloth, a coral pink cloth, and a white flower-shaped plate. A white robotic arm base is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves down toward the mug on the table, grasps the metallic spoon inside the mug, lifts the spoon out of the mug, moves it over the table surface, and releases the spoon onto the table near the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 240, "tasks": ["place spoon"], "length": 191, "global_instruction": "Remove the spoon from the red mug and place it on the round wooden table.", "scene_description": "A round light wooden table holds a red mug with a spoon inside, stacked white paper plates, a dark blue cloth, a coral pink cloth, and small silver clips. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the red mug on the table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it left, and places it on the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 241, "tasks": ["place spoon"], "length": 148, "global_instruction": "Take the green spoon out of the mug and place it on the white table", "scene_description": "An orange sofa sits against a white wall, with a small white round table in front of it. On the table are a white mug with a green rim holding a green spoon, two F-clamps with red handles, a white cleaning brush with a black grip, and two beige paper sheets. A white robotic arm and black camera stand are on the left side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the green spoon inside the white mug on the round table, grasps the spoon, lifts it out of the mug, moves it over the table surface, and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 242, "tasks": ["place spoon"], "length": 146, "global_instruction": "Take the green spoon out of the white mug and place it on the white table.", "scene_description": "A white round table holds a white mug with a green spoon inside, two orange-handled clamps, a white cleaning brush, and two brown napkins. An orange textured sofa is next to the table, with crumpled paper on its edge, and a white robotic arm is in the foreground.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, grasps the green spoon inside the mug, lifts the spoon out of the mug, moves it over the table, and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 243, "tasks": ["place spoon"], "length": 165, "global_instruction": "Take the metal spoon out of the white mug and place it on the white table.", "scene_description": "A white round table stands in front of an orange sofa, holding a white mug, two beige rectangular pads, a white dustpan with black-orange handle, and three orange-handled tools. The right robotic arm is positioned above the table, and the left robotic arm is at the lower left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the round table, inserts its gripper into the mug to grasp the metal spoon inside, lifts the spoon out of the mug, moves the spoon to a clear spot on the table, and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 244, "tasks": ["place spoon"], "length": 258, "global_instruction": "Pick a metal spoon from the dish rack and drop it into the sink", "scene_description": "A white kitchen counter has a stainless steel sink, a wire dish rack with dishes left of the sink, cleaning supplies and metal containers right of the sink, and two white robotic arms left of the counter.", "global_instruction_dense": "The right robotic arm moves toward the wire dish rack on the kitchen counter, grasps a metal spoon, lifts it, moves it over the sink, then releases the spoon to drop it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 245, "tasks": ["place spoon"], "length": 322, "global_instruction": "Place the metal spoon from the dish rack into the stainless steel sink.", "scene_description": "A white kitchen counter holds a stainless steel sink on the right and a metal dish rack with a metal spoon inside next to the sink. White upper cabinets are mounted on the wall, a bulletin board with notices is on the left wall, and two robotic arms are positioned left of the counter.", "global_instruction_dense": "The right robotic arm extends toward the metal spoon in the countertop dish rack, grasps the spoon, lifts and moves it over the adjacent stainless steel sink, then releases the spoon to drop it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 246, "tasks": ["place spoon"], "length": 299, "global_instruction": "Place the silver spoon from the teal bowl in the sink into the white dish rack on the counter.", "scene_description": "A stainless steel kitchen sink contains a teal bowl holding a silver spoon. A white dish rack sits on the counter left of the sink, and cleaning supplies are on the counter right of the sink.", "global_instruction_dense": "The right robotic gripper moves right toward the teal bowl in the sink, grasps the silver spoon inside the bowl, lifts the spoon, moves left over the white dish rack on the counter, and releases the spoon into the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 247, "tasks": ["place spoon"], "length": 146, "global_instruction": "Pick up the white plastic spoon on the table and place it on the right edge of the table.", "scene_description": "A white round table holds a crumpled red cloth, a light green bowl, a light blue plastic cup, a pile of small white pieces, and a dustpan with a black bristle head, white body, and red-accented black handle. A dual-arm white robotic manipulator is positioned to the left of the table, with an office conference area in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the white spoon adjacent to the pile of small white pieces on the table, grasps the spoon, lifts it, moves it rightward across the table, and releases it on the right edge of the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 248, "tasks": ["place spoon"], "length": 180, "global_instruction": "Place the clear plastic spoon into the green bowl then reposition the light blue plastic cup on the table.", "scene_description": "A white round table holds a light green bowl with white contents, a white dustpan with a black brush head and red handle, a clear plastic spoon, and a light blue plastic cup. A white robotic arm is positioned to the left of the table in an open office space with a red sofa and meeting area in the background.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic spoon on the white table, grasps and lifts the spoon, places it into the light green bowl, then moves toward the light blue plastic cup, grasps and lifts the cup before lowering it back onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 249, "tasks": ["place spoon"], "length": 249, "global_instruction": "Pick up the black spoon from the sink and place it into the metal dish rack.", "scene_description": "A stainless steel sink holds a white mug, black spoon, and white toothbrush. A black soap dispenser is mounted on the speckled wall above the sink, a clear dish soap bottle with a blue cap sits on the counter to the sink's right, a metal dish rack is positioned behind the sink, and a white robotic arm is above the left side of the sink.", "global_instruction_dense": "The left robotic arm moves downward into the sink, grasps the black spoon, lifts it out of the sink, moves it toward the metal dish rack behind the sink, places the spoon into the rack, and retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 250, "tasks": ["place spoon"], "length": 242, "global_instruction": "Place the black spoon into the stainless steel sink", "scene_description": "A stainless steel sink sits on a metal kitchen counter, with a white mug and white toothbrush inside the sink. A black soap dispenser is mounted on the wall above the sink, a metal dish rack holding a yellow-rimmed white mug is to the left of the sink, a clear bottle with a blue cap is to the right of the sink, and a white robotic arm is positioned left of the counter.", "global_instruction_dense": "The left robotic arm moves to grasp a black spoon, moves the spoon over the stainless steel sink, lowers it, and releases the spoon into the sink.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 251, "tasks": ["place spoon"], "length": 206, "global_instruction": "Place the silver spoon on the counter into the grey cutlery basket", "scene_description": "A grey kitchen countertop holds a black toaster oven, one silver spoon, two silver forks, and a grey plastic cutlery basket. A white robotic arm is positioned left of the counter.", "global_instruction_dense": "The right robotic gripper reaches toward the silver spoon on the counter, grasps it, lifts it, moves it over the grey cutlery basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 252, "tasks": ["place spoon"], "length": 271, "global_instruction": "Pick up the silver spoon on the kitchen counter and place it into the dish rack", "scene_description": "A grey kitchen counter holds a black toaster, a silver metal spoon, and a dark grey dish rack. The dish rack is on the right of the counter, the spoon is left of the dish rack, the toaster is left of the spoon, and a white robotic arm is left of the toaster.", "global_instruction_dense": "The right robotic gripper moves toward the silver spoon on the grey kitchen counter, grasps the spoon, lifts it, moves right over the dark dish rack, releases the spoon into the rack, and moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 253, "tasks": ["place spoon"], "length": 206, "global_instruction": "Take a metal spoon from the gray basket and place it on the gray countertop.", "scene_description": "A gray kitchen countertop holds a gray basket, a black toaster, a metal fork, a yellow and blue jar, and a blue lid, with a robotic arm positioned to the left of the counter.", "global_instruction_dense": "The right robotic arm extends toward the gray basket on the counter, grasps a metal spoon inside the basket, lifts the spoon out of the basket, moves it to an empty spot on the counter next to the existing fork, and releases the spoon onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 254, "tasks": ["place spoon"], "length": 234, "global_instruction": "Place the silver spoon on the counter into the dark grey plastic basket.", "scene_description": "A grey countertop holds a silver spoon, a blue-lidded peanut butter jar, a dark grey plastic basket, and a black toaster, with a white robotic arm on the left side of the view.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the counter, grasps it, lifts it, moves it over the grey basket, releases the spoon into the basket, then retracts away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 255, "tasks": ["place spoon"], "length": 206, "global_instruction": "Pick up the silver spoon on the table and place it into the black mesh basket.", "scene_description": "A dark gray table holds a black toaster, a silver spoon, a blue-lidded container, and a black mesh basket, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the dark gray table, grasps the spoon, lifts it, moves right over the black mesh basket, and releases the spoon into the basket.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 256, "tasks": ["place spoon"], "length": 250, "global_instruction": "Take a silver spoon from the grey basket and place it on the dark grey tabletop.", "scene_description": "A dark grey tabletop holds a grey woven basket, black toaster, blue-capped small container, silver fork, white water bottle with orange logo, and grey folded clothing. A white robotic arm is positioned above the left side of the table near the basket.", "global_instruction_dense": "The right robotic arm lowers its gripper into the grey basket, grasps a silver spoon, lifts it out of the basket, moves it over the empty table surface, and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 257, "tasks": ["place spoon"], "length": 243, "global_instruction": "Take a metal spoon from the grey basket and place it on the grey table surface.", "scene_description": "A grey table holds a grey plastic basket, blue small lid, blue-yellow jar, black toaster, white water bottle with red logo, and grey hoodie with red print. Two white robotic arms are positioned to the left of the table, a light blue chair sits to the table's right.", "global_instruction_dense": "The left robotic arm moves toward the grey basket on the table, grasps a metal spoon from inside the basket, lifts the spoon, moves it rightward over the table near the grey hoodie, then releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 258, "tasks": ["place spoon"], "length": 160, "global_instruction": "Take the black spoon from the stand and place it on the white table.", "scene_description": "A white table holds a white water bottle with a black cap, folded red cloth, small green square block, silver-framed small whiteboard, black stand with a clear wine glass, and a black spoon in the stand, with two robotic arms at the left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black spoon in the black stand on the table, grasps the spoon, lifts it out of the stand, moves it to an empty table area, lowers and releases the spoon onto the table, then moves away from the placed spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 259, "tasks": ["place spoon"], "length": 534, "global_instruction": "Place the black spoon into the black container, then move the clear glass flask and adjust the black container's position on the table.", "scene_description": "A white table holds a green cube, a black rectangular container with a pink item inside, a clear glass flask, a black spoon, a white bottle with a red logo, and a red cloth, with two white robotic arms positioned above the table.", "global_instruction_dense": "The right robotic arm first grasps the black spoon from the table, lifts it, moves it to the black rectangular container and releases it inside; next, the arm moves to the clear glass flask, grasps it, lifts it, and places it adjacent to the black container; finally, the arm grasps the black container, adjusts its position, sets it back on the table, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 260, "tasks": ["place spoon"], "length": 198, "global_instruction": "Place the black spoon on the table into the black rectangular container.", "scene_description": "A white table holds a silver-framed whiteboard with blue writing, a green rectangular eraser, a black spoon, two clear wine glasses, and a black rectangular box with a pink item inside, with robotic arms positioned to the left of the table.", "global_instruction_dense": "The right robotic arm extends toward the black spoon on the table, grasps it with its gripper, lifts it, moves it rightward over the black rectangular box, releases the spoon into the box, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 261, "tasks": ["place spoon"], "length": 301, "global_instruction": "Pick up the transparent plastic spoon from the right section of the table and place it near the red cloth on the left table section.", "scene_description": "A white table holds a transparent plastic spoon, silver-framed whiteboard, small green eraser, black rectangular holder, red folded cloth, and white water bottle with red print, with robotic arms positioned on the left side of the table.", "global_instruction_dense": "The right robotic arm moves right toward the transparent plastic spoon on the table, grasps it with its gripper, lifts the spoon, moves it left to the area near the red cloth, releases the spoon onto the table surface, then retracts its arm away from the placement spot.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 262, "tasks": ["place spoon"], "length": 184, "global_instruction": "Pick up the black spoon and place it near the black-lidded transparent container on the table.", "scene_description": "A white table holds a red folded cloth, white printed water bottle, transparent container with a black lid, green rectangular eraser, black standing spoon, silver-edged handwritten whiteboard, black slotted basket, and clear stemmed wine glass, with two white robotic arms positioned at the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the black standing spoon on the table, grasps it with its gripper, lifts the spoon, shifts it closer to the black-lidded container, then releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 263, "tasks": ["place spoon"], "length": 223, "global_instruction": "Place the black spoon on the table into the black storage box", "scene_description": "A white table holds a white water bottle, red folded cloth, blue-rimmed small cup, green eraser, black flat circular object, black spoon, silver-framed whiteboard, black rectangular storage box with a pink object inside, and clear plastic tongs, with two robotic arms positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the black spoon on the table, grasps it with its gripper, lifts and moves it over the black storage box, then releases the spoon into the box.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 264, "tasks": ["place spoon"], "length": 177, "global_instruction": "Take the black spoon from the black container and place it on the white table.", "scene_description": "A white table has a black rectangular container on its right holding a black spoon, plus a silver writing pad, blue and white small cup, green eraser, white fork, red cloth, white bottle, and robotic arms on the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the black container on the right of the white table, grasps the black spoon inside the container, lifts it, moves it left over the table, then lowers and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 265, "tasks": ["place spoon"], "length": 124, "global_instruction": "Reposition the black spoon to a new location on the white tabletop.", "scene_description": "A white tabletop holds a red cloth, white spray bottle, black-capped small container, green rectangular eraser, black spoon, white dry-erase board with handwritten text, black caddy holding a pink object, and clear glass bulb. Two robotic arms are positioned at the left side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the table, adjusts the position of the green eraser to clear space, grasps the black spoon, moves it to a new position on the table, releases the spoon, and lifts upward away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 266, "tasks": ["place spoon"], "length": 275, "global_instruction": "Pick up the black spoon on the table and place it into the black rectangular organizer.", "scene_description": "A white table holds a white water bottle, red folded cloth, black rectangular organizer, green eraser, black spoon, small lidded cup, and a small whiteboard, with robotic arms positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the black spoon on the table, grasps it, lifts it, transports it to the black rectangular organizer, lowers it, and places the spoon inside the organizer before releasing its grip.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 267, "tasks": ["place spoon"], "length": 195, "global_instruction": "Place the white spoon on the table into the black compartmentalized container", "scene_description": "A light wooden round table holds a black compartmentalized container, a white spoon, a white fork, and a green notebook. A grey L-shaped sofa sits behind the table, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the white spoon on the round table, grasps it, lifts it, moves it over the black container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 268, "tasks": ["place spoon"], "length": 123, "global_instruction": "Pick up the black spoon on the kitchen counter and place it back onto the counter surface.", "scene_description": "A dark patterned kitchen counter holds a light cream toaster, a black spoon, a black rectangular container with a transparent lid, and loose white cables, with a white robotic arm positioned to the left of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the black spoon on the counter, grasps it, lifts and moves it above the counter, then lowers and releases it back onto the counter before moving away from the spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 269, "tasks": ["place spoon"], "length": 432, "global_instruction": "Place the transparent spoon on the kitchen counter into the black dish rack.", "scene_description": "A dark marble kitchen counter holds a transparent plastic spoon, a light green toaster, and a black multi-compartment dish rack. A white robotic arm is positioned above the left side of the counter, with a person in an orange shirt in the background.", "global_instruction_dense": "The right robotic arm moves down toward the transparent spoon on the counter, grasps it, lifts it, moves it to the black dish rack, lowers it into an empty compartment, releases it upright, and moves back upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 270, "tasks": ["place spoon"], "length": 175, "global_instruction": "Take the spoon out of the light blue bowl and place it on the white side table.", "scene_description": "In an office lounge area, a white side table with red legs is in front of a blue sofa, a light blue bowl of food and a dark blue rectangular box are on the table, and a robotic arm is positioned at the upper left of the view.", "global_instruction_dense": "The right robotic arm moves down toward the light blue bowl on the white side table, grasps the spoon inside the bowl, lifts the spoon out of the bowl, moves it to the empty area of the table next to the bowl, lowers the spoon, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 271, "tasks": ["place spoon"], "length": 167, "global_instruction": "Take the metal spoon from the light blue bowl and place it on the white table.", "scene_description": "A small white table holds a light blue bowl with a metal spoon inside, and a black-handled pan with a clear glass lid. Blue sofas are in the background, with a robotic arm at the upper left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon in the light blue bowl, grasps the spoon, lifts it out of the bowl, moves it to the empty space on the white table next to the bowl, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 272, "tasks": ["place spoon"], "length": 260, "global_instruction": "Place the metal spoon on the table into the empty white bowl.", "scene_description": "A white round table holds a white saucepan with green contents (handle pointing right), a wooden-handled red spatula above the pan, a metal spoon and fork left of the pan, an empty white bowl below the utensils, a blue-and-white paper cup right of the bowl, an oval white plate with a metal knife to the pan's right, and a small clear lid beside the plate. A white vase with flowers sits behind the pan, mesh and woven-back chairs surround the table, a robotic arm is positioned at the table's left, with white curtains and a potted plant against a pegboard back wall in the background.", "global_instruction_dense": "Left robotic arm moves downward toward the metal spoon on the table, grasps the spoon, lifts it, moves it over the empty white bowl, lowers it, and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 273, "tasks": ["place spoon"], "length": 234, "global_instruction": "Move the black slotted spoon on the kitchen counter to a new position.", "scene_description": "A white and grey robotic arm is positioned above a granite kitchen counter, which holds a black-silver coffee maker, white mug, stainless steel pot on an electric stovetop, metal bowl, wooden spoon, black slotted spoon, small white cup, and cleaning cloths. White cabinets sit above the counter, a large window is on the left, and the floor is wooden.", "global_instruction_dense": "The right robotic arm moves downward toward the black slotted spoon on the kitchen counter, grasps the spoon, lifts and re-positions it to a new spot on the counter, then releases the spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 274, "tasks": ["place spoon"], "length": 130, "global_instruction": "Take a white spoon from the white bowl and place it on the gray countertop.", "scene_description": "A gray kitchen countertop holds a white bowl on its left section, a green folded cloth right of the bowl, multiple green-labeled and one orange-labeled beverage cans on the far right, and silver thermoses in the background; the left robotic arm is visible on the far left edge of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the white bowl on the gray countertop, grasps the white spoon inside the bowl, lifts the spoon, moves it to the area right of the bowl, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 275, "tasks": ["place spoon"], "length": 102, "global_instruction": "Take the blue spoon out of the white bowl and place it on the kitchen counter.", "scene_description": "A dark grey kitchen counter holds a white bowl with a blue spoon, a folded green cloth, and a white robotic arm is positioned left of the counter, with a kitchen area (stainless steel fridge, white cabinets) and seated people in the background.", "global_instruction_dense": "The right robotic arm moves toward the white bowl on the counter, grasps the blue spoon inside the bowl, lifts the spoon out of the bowl, moves the spoon over the counter surface, and releases the spoon onto the counter next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 276, "tasks": ["place spoon"], "length": 182, "global_instruction": "Remove the spoon from the white paper cup and place it on the white table", "scene_description": "A white round table holds a white paper cup, small black box, sealed beige bag, dark purple packaged item, and pink Sweet package. A white robotic arm base is positioned to the left of the table, and the background is an office lounge with orange walls, a whiteboard, and lounge seating.", "global_instruction_dense": "The right robotic arm moves into view above the table, lowers toward the white paper cup, grasps the spoon inside the cup, lifts the spoon out of the cup, moves to a position above the table surface, lowers the spoon, releases it, and leaves the spoon resting on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 277, "tasks": ["place spoon"], "length": 159, "global_instruction": "Remove the spoon from the white cup and place it on the table surface", "scene_description": "A white round table holds a white cup, a pink tissue box, a dark small item, and a small white flat object. A robotic arm is positioned to the left of the table, orange chairs surround the table, and a person sits at a table in the right background.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the table, lowers its gripper into the cup to grasp the spoon, lifts the spoon out of the cup, moves it to the table next to the cup, releases the spoon onto the table, and retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 278, "tasks": ["place spoon"], "length": 160, "global_instruction": "Remove the green spoon from the white mug and place it on the white table.", "scene_description": "A white round table holds a white patterned mug with a green spoon inside, a transparent glass jar, and a silver aluminum foil tray. A white robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm moves down toward the white mug on the table, grasps the green spoon inside the mug, lifts the spoon out of the mug, moves it over the table surface next to the mug, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 279, "tasks": ["place spoon"], "length": 140, "global_instruction": "Remove the green spoon from the white mug and place it on the table.", "scene_description": "A white round table holds a white mug, a bottle with a red cap, and an open box of wooden stir sticks. Orange chairs, glass office partitions, and an orange wall with a whiteboard are in the background.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the table, grasps the green spoon inside the mug, lifts the spoon out of the mug, moves it to the left of the mug, lowers it onto the table surface, releases the spoon, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 280, "tasks": ["place spoon"], "length": 135, "global_instruction": "Remove the green spoon from the white mug and place it on the white table.", "scene_description": "A white round table in an office space holds a white mug with a green spoon inside, a red-lidded jar, and an open box of coffee stirrers, with seating and a whiteboard in the background.", "global_instruction_dense": "The left robotic arm moves toward the white mug, grasps the green spoon inside it, lifts the spoon out of the mug, moves it over the table, and places the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 281, "tasks": ["place spoon"], "length": 107, "global_instruction": "Remove the green spoon from the white mug and place it on the white table.", "scene_description": "A white round table in an office lounge holds a white mug with a green spoon inside, a red-capped bottle, and an open box of coffee stirrers, with orange and grey seating and whiteboards in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug, grasps the green spoon inside it, lifts the spoon out of the mug, moves it to an empty spot on the white table, lowers the spoon, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 282, "tasks": ["place spoon"], "length": 229, "global_instruction": "Take the black spoon out of the glass and place it on the white table.", "scene_description": "Two adjacent white small tables are placed next to a gray sofa and an orange L-shaped sofa. A clear glass containing a black spoon sits on the upper white table. A white robotic arm is mounted on a dark work platform to the left of the tables, with a dark blue sofa holding a green bag in the background.", "global_instruction_dense": "The right robotic arm moves toward the black spoon inside the clear glass on the upper white table, grasps the spoon, lifts it out of the glass, moves it over the same white table, and releases it to rest on the tabletop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 283, "tasks": ["place spoon"], "length": 120, "global_instruction": "Take the spoon from the glass on the right white side table and place it on the empty left white side table.", "scene_description": "Two white side tables with orange legs are placed side by side; the right table holds a transparent glass cup with a spoon inside it. A right robotic arm is positioned at the left of the frame, with orange, blue, and grey sofas in the background.", "global_instruction_dense": "The right robotic arm moves toward the glass on the right white side table, grasps the spoon inside the glass, lifts the spoon out, moves it left over the empty left white side table, and releases the spoon onto the left table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 284, "tasks": ["place spoon"], "length": 101, "global_instruction": "Remove the orange spoon from the green and white cup and place it on the wooden table.", "scene_description": "A light wooden table holds a green and white cup containing an orange spoon, two white boxes, and a black packaged object. A black monitor sits behind the table, a whiteboard with handwritten text is to the left of the table, and a right robotic arm is positioned above the upper left of the table, with part of a white robot visible at the left edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the green and white cup on the table, grasps the orange spoon inside the cup, lifts the spoon out of the cup, moves the spoon over the empty table surface to the right of the cup, and places the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 285, "tasks": ["place spoon"], "length": 124, "global_instruction": "Remove the spoon from the red patterned mug and place it on the white table", "scene_description": "A white table is in an office-style room with wall cabinets and background filing shelves. A red mug with white patterns holding a black-handled spoon is on the right of the table, a stack of documents sits at the far end of the table, and a white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the red patterned mug on the white table, lowers its gripper into the mug to grasp the black-handled spoon inside, lifts the spoon out of the mug, and places it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 286, "tasks": ["place spoon"], "length": 138, "global_instruction": "Remove the spoon from the red patterned mug and place it on the white countertop.", "scene_description": "A white lab countertop holds a red patterned mug with a white spoon inside it, stacked files to the mug's right, a book and small white cup at the far end of the counter, and a white robotic arm on the left with its right gripper raised above the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the red patterned mug on the counter, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it rightward, and lowers it to place it on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 287, "tasks": ["place spoon"], "length": 159, "global_instruction": "Pick the orange spoon from the white bowl and place it on the adjacent countertop.", "scene_description": "A white countertop holds a white bowl with an orange spoon inside, stacked flat items, and an embedded dark rectangular panel. Upper white cabinets are mounted above the counter, and a static left robotic arm with blue lights is on the left of the frame.", "global_instruction_dense": "The right robotic arm moves downward from the upper frame, grasps the orange spoon inside the white bowl, lifts the spoon, moves it leftward over the counter, and places it on the counter next to the embedded dark rectangular panel.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 288, "tasks": ["place spoon"], "length": 139, "global_instruction": "Place the red spoon on the kitchen counter into the white bowl", "scene_description": "A white kitchen counter holds a white bowl, a red spoon, stacked paper items, and an embedded black panel. White upper cabinets are above the counter, and a left robotic arm with blue indicator lights is positioned left of the counter.", "global_instruction_dense": "The right robotic arm moves downward from the upper frame toward the red spoon on the counter, grasps the spoon with its gripper, lifts it, moves it over the white bowl, and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 289, "tasks": ["place spoon"], "length": 151, "global_instruction": "Take the spoon from the patterned white mug and place it on the white table.", "scene_description": "A white table holds a patterned white mug with a spoon inside, a stack of books, a brown notepad, and a stack of magazines; white wall cabinets are behind the table, with a left robotic gripper positioned above the table.", "global_instruction_dense": "The left robotic gripper moves down toward the patterned white mug, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon over the table surface, lowers it, and releases the spoon onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 290, "tasks": ["place spoon"], "length": 120, "global_instruction": "Take the red-handled spoon from the mug and place it on the blue-taped paper next to the mug.", "scene_description": "A white robotic arm is positioned near upper left wall-mounted white mail sorting slots, above a white multifunction printer. On the adjacent flat desk surface, a green-white mug with a red-handled spoon inside sits left of a blue hardcover book, next to blue-taped paper.", "global_instruction_dense": "The right robotic arm moves downward toward the mug, grasps the red-handled spoon inside the mug, lifts the spoon out of the mug, moves it over the blue-taped paper, and places the spoon onto the paper.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 291, "tasks": ["place spoon"], "length": 116, "global_instruction": "Take the red-handled spoon out of the mug and place it on the adjacent sheet of paper.", "scene_description": "A white robotic arm sits above a white office printer on a work table. The table holds a white mug with green detailing (containing a red-handled spoon), a blue hardcover book with a yellow spine, a digital touchscreen, and blue-taped paper. White mail sorting shelves are mounted on the wall behind the table.", "global_instruction_dense": "The right robotic arm moves down toward the mug, grasps the red-handled spoon inside the mug, lifts the spoon out of the mug, moves it over the nearby sheet of paper, and releases the spoon onto the paper.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 292, "tasks": ["place spoon"], "length": 131, "global_instruction": "Take the spoon out of the white mug and place it on the round table.", "scene_description": "A light brown round table holds a white mug with a spoon inside and a green cloth. A robotic arm base is on the left of the table, a wall screen and writing-covered whiteboard are in the background, and a black chair is on the right.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the table, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it to the empty table surface left of the mug, lowers the spoon, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 293, "tasks": ["place spoon"], "length": 118, "global_instruction": "Take the white spoon out of the light blue bowl and place it on the wooden table", "scene_description": "A light blue bowl and a green plastic bag are placed on a round light wooden table. A white robotic arm is to the left of the table, and a whiteboard with formula writing is in the background.", "global_instruction_dense": "The left robotic gripper moves toward the light blue bowl on the round wooden table, grasps the white spoon inside the bowl, lifts the spoon out of the bowl, moves it over the table surface, and places the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 294, "tasks": ["place spoon"], "length": 92, "global_instruction": "Take the orange spoon out of the white bowl and place it on the wooden table.", "scene_description": "A light brown wooden table holds a white bowl with an orange-handled spoon inside, a black speaker sits at the back of the table, a white robotic arm is positioned to the left of the table with office chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the white bowl on the table, grasps the orange spoon inside the bowl, lifts the spoon out of the bowl, moves it slightly to the left of the bowl, then releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 295, "tasks": ["place spoon"], "length": 78, "global_instruction": "Place the orange-handled spoon into the white bowl on the table", "scene_description": "A light wooden table holds a white bowl, an orange-handled spoon next to the bowl, a black rectangular box, and a white canvas bag on the table's right side, with a white robotic arm positioned left of the table.", "global_instruction_dense": "The right robotic arm extends toward the orange-handled spoon on the table, grasps it, lifts it, moves it over the white bowl, and releases it to drop into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 296, "tasks": ["place spoon"], "length": 125, "global_instruction": "Remove the spoon from the cup and place it on the table surface.", "scene_description": "A green and white ceramic cup with a metal spoon inside sits on a light wooden oval table. A robotic device with blue lights is on a black table to the left, with office chairs, a tripod, and a marked whiteboard on a yellow wall in the background.", "global_instruction_dense": "The right robotic arm enters from the background, moves toward the cup on the table, lowers its gripper into the cup to grasp the spoon, lifts the spoon out of the cup, moves it to the adjacent table area, and releases it to place the spoon on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 297, "tasks": ["place spoon"], "length": 125, "global_instruction": "Remove the spoon from the cup and place it on the table surface.", "scene_description": "A green and white ceramic cup with a metal spoon inside sits on a light wooden oval table. A robotic device with blue lights is on a black table to the left, with office chairs, a tripod, and a marked whiteboard on a yellow wall in the background.", "global_instruction_dense": "The right robotic arm enters from the background, moves toward the cup on the table, lowers its gripper into the cup to grasp the spoon, lifts the spoon out of the cup, moves it to the adjacent table area, and releases it to place the spoon on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 298, "tasks": ["place spoon"], "length": 136, "global_instruction": "Take the black spoon out of the red patterned mug and place it on the tabletop.", "scene_description": "A light beige curved table sits in an office space, a red mug with white patterns holding a black spoon is at the table center, a robotic arm is positioned left of the table, with a whiteboard, shelf and office furniture in the background.", "global_instruction_dense": "The left robotic arm moves its gripper down to the red patterned mug on the table, grasps the black spoon inside the mug, lifts the spoon out of the mug, moves the spoon sideways, and places it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 299, "tasks": ["place spoon"], "length": 115, "global_instruction": "Take the white spoon out of the black red-interior mug and place it on the gray table.", "scene_description": "A gray table holds a black pencil case, a black mug with red interior containing a white spoon, a blue book, and a dark blue folder printed with 'Penn'. A large blue trash bin and storage cabinets are in the background.", "global_instruction_dense": "The left robotic arm moves toward the black mug with red inner lining on the gray table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it horizontally to the left, places it on the gray table surface next to the mug, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 300, "tasks": ["place spoon"], "length": 110, "global_instruction": "Remove the white spoon from the black red-interior mug and place it on the light gray table.", "scene_description": "A light gray table holds a black hard case on the left, a black mug with red interior containing a white spoon, and a blue book stacked under a dark blue hardcover book. A blue trash bin is at the back right, and a robotic arm is in the background above a small side table with a cardboard box.", "global_instruction_dense": "The right robotic arm moves from the background toward the black red-interior mug, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it leftward, and places it on the light gray table between the mug and the black hard case.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 301, "tasks": ["place spoon"], "length": 115, "global_instruction": "Remove the white spoon from the black and red mug and place it on the gray table", "scene_description": "A gray table holds a black hard case, a dark blue folder, a blue Probabilistic Robotics book, and a black mug with red interior containing a white spoon. A blue trash bin, white desk, and filing cabinet are visible in the background.", "global_instruction_dense": "The robotic gripper moves toward the black mug with red interior on the gray table, grasps the white spoon inside the mug, lifts the spoon out of the mug, lowers it to the table surface, and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 302, "tasks": ["place spoon"], "length": 132, "global_instruction": "Remove the white spoon from the black and red mug and place it on the light gray table.", "scene_description": "A light gray table holds a black hard case, a dark blue folder, a blue book, and a black mug with red interior containing a white spoon. A blue trash bin, cabinets, and a counter are in the background.", "global_instruction_dense": "The left robotic arm enters the scene, moves toward the black mug with red interior, grasps the white spoon inside the mug, lifts the spoon out of the mug, and places it on the light gray table between the mug and the blue book.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 303, "tasks": ["place spoon"], "length": 116, "global_instruction": "Take the white spoon out of the black mug and place it on the gray table", "scene_description": "A gray table holds a black hard case, dark blue folder, blue Probabilistic Robotics book, and a black mug with red interior containing a white spoon. A blue trash bin, cabinets, and a robotic arm are in the background.", "global_instruction_dense": "The left robotic arm moves toward the white spoon inside the black mug, grasps the spoon, lifts it out of the mug, moves it over the table to the right of the blue book, and releases it onto the gray table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 304, "tasks": ["place spoon"], "length": 125, "global_instruction": "Remove the white spoon from the black mug and place it on the gray table.", "scene_description": "A light gray table holds a black hard case, a dark blue 'Penn' folder, a blue notebook under the folder, and a black mug with red interior containing a white spoon. A robotic arm is positioned behind the table, with a blue trash bin and storage cabinets in the background.", "global_instruction_dense": "The left robotic arm moves toward the black mug on the table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it over the table surface left of the mug, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 305, "tasks": ["place spoon"], "length": 104, "global_instruction": "Remove the white spoon from the black cup with red interior and place it on the table.", "scene_description": "A grey table holds a black hard case, a blue Robotics book, a black cup with red interior containing a white spoon, and a dark blue folder, with a blue trash bin and cabinets in the background.", "global_instruction_dense": "The left robotic gripper approaches the black cup with red interior, grasps the white spoon inside it, lifts the spoon out of the cup, moves it leftward, and places it on the grey table next to the blue book.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 306, "tasks": ["place spoon"], "length": 126, "global_instruction": "Remove the silver spoon from the black cup with red interior and place it on the light gray table.", "scene_description": "A light gray table holds a black pencil case on the left, a blue 'Probability Robotics' book at center-left, a black cup with red interior holding a silver spoon at center, and a dark blue notebook with red-handled scissors on top at center-right. A blue trash bin, gray cabinet, and white side table are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the silver spoon inside the black cup with red interior, grasps the spoon, lifts it out of the cup, moves it to the space between the blue book and dark blue notebook, then releases the spoon onto the gray table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 307, "tasks": ["place spoon"], "length": 126, "global_instruction": "Take the spoon out of the black cup with red interior and place it on the table.", "scene_description": "A light gray table has a black hard case on the left, a blue textbook next to the case, a black cup with red interior to the right of the textbook, and a dark blue folder with gold text on the right side of the table with red-handled scissors on top of the folder. A large blue trash bin and storage cabinets are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black cup with red interior, grasps the spoon inside it, lifts the spoon out of the cup, moves it to the empty space between the blue textbook and dark blue folder, then lowers and releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 308, "tasks": ["place spoon"], "length": 113, "global_instruction": "Remove the white spoon from the black cup with red interior and place it on the gray table.", "scene_description": "A gray table holds a black pencil case on the left, a blue book, a black cup with red interior containing a white spoon, and a dark blue folder with red scissors on top, with a blue trash bin and cabinets in the background.", "global_instruction_dense": "The right robotic gripper moves into the scene toward the black cup with red interior, grasps the white spoon inside it, lifts the spoon out of the cup, moves it left, and places it on the gray table next to the blue book.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 309, "tasks": ["place spoon"], "length": 127, "global_instruction": "Take the white spoon out of the black mug and place it on the table next to the mug.", "scene_description": "A light gray table holds a black hard case, a blue book, a black mug with red interior containing a white spoon, and a dark blue folder with red-handled scissors on top. A blue trash bin and cabinets are in the background.", "global_instruction_dense": "The right robotic arm moves toward the black mug on the table, grasps the white spoon inside the mug, lifts the spoon upward out of the mug, then lowers the spoon to place it on the table surface beside the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 310, "tasks": ["place spoon"], "length": 137, "global_instruction": "Take the white spoon out of the black mug and place it on the light gray table.", "scene_description": "A light gray table holds a blue book with red scissors resting on it, a dark blue folder, a black mug with red interior containing a white spoon, and a black hard case, with a blue trash bin and cabinets in the background.", "global_instruction_dense": "The left robotic arm moves toward the black mug on the light gray table, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves left over the table surface, and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 311, "tasks": ["place spoon"], "length": 107, "global_instruction": "Remove the white spoon from the black mug with red interior and place it on the gray table.", "scene_description": "A light gray table holds a blue book with red scissors on top, a dark blue folder, a black zippered pouch, and a black mug with red interior containing a white spoon; a blue trash bin and office furniture are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black mug with red interior, grasps the white spoon inside it, lifts the spoon out of the mug, moves it toward the table, and releases it onto the table surface next to the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 312, "tasks": ["place spoon"], "length": 98, "global_instruction": "Place the white spoon from the black and red mug onto the light gray table.", "scene_description": "A light gray table holds a blue book with red scissors on it, a black hard case, a black mug with red interior containing a white spoon, and a dark blue folder, with a large blue trash bin in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white spoon inside the black mug with red interior, grasps the spoon, lifts it out of the mug, moves it over the table surface, releases the spoon onto the table, then moves away from the placed spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 313, "tasks": ["place spoon"], "length": 129, "global_instruction": "Remove the white spoon from the black cup and place it on the table.", "scene_description": "A light gray table holds a blue hardcover book, a black cup with red interior containing a white spoon, a small white earbud case, a black pencil case, and a dark blue folder with red scissors on top. A large blue trash bin, gray cabinets, and a small white table with a brown box are in the background.", "global_instruction_dense": "The left robotic arm moves toward the black cup on the table, grasps the white spoon inside the cup, lifts the spoon out of the cup, moves it leftward, lowers it to the table surface, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 314, "tasks": ["place spoon"], "length": 111, "global_instruction": "Take the white spoon out of the black and red cup and place it on the table", "scene_description": "A light gray table holds a black cup with red interior containing a white spoon, a black lanyard-attached hard case, a blue hardcover book, a small white square object, and a dark blue folder with red-handled scissors on top. A large blue trash bin, small white side table with a brown box, cabinets and gray curtains are in the background.", "global_instruction_dense": "The left robotic arm moves toward the white spoon inside the black cup with red interior, grasps the spoon, lifts it out of the cup, moves it slightly right, and releases it onto the table between the cup and the blue book.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 315, "tasks": ["place spoon"], "length": 366, "global_instruction": "Pick the white spoon from the white plate, place it on the adjacent table, then adjust the plate's position.", "scene_description": "A gray table holds a white plate with a white spoon on it, a black spoon behind the plate, a clear water bottle with a blue label, and a beige tray of white utensils at the table's bottom left. Two blue chairs are behind the left side of the table, and a robotic arm is positioned above the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the white spoon on the white plate, grasps the spoon, lifts it, moves it to the left of the plate, places it on the gray table, releases it, adjusts the plate's position, then returns to its starting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 316, "tasks": ["place spoon"], "length": 206, "global_instruction": "Place the white plastic spoon from the table into the beige cutlery tray", "scene_description": "A gray table holds a beige cutlery tray with assorted forks and knives on its left, a white circular plate to the right of the tray, a white plastic spoon below the plate, a clear plastic water bottle and clear plastic cup at the far end of the table, with two blue chairs to the left of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the white plastic spoon on the gray table, grasps the spoon, lifts it, moves it left over the beige cutlery tray, releases the spoon into the tray, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 317, "tasks": ["place spoon"], "length": 177, "global_instruction": "Place the pink spoon from the black container onto the blue plate", "scene_description": "A white table holds a light blue small kitchen appliance on the left, assorted dishware (teal cups, light green bowl, black ribbed tray, large blue plate, small white plate, small teal lid, black container), and colorful plastic toy food at the far end, with a robotic arm positioned off the right side of the table in the background.", "global_instruction_dense": "The right robotic arm moves toward the black container on the table, grasps the pink spoon inside the container, lifts the spoon, moves it over the blue plate, and releases the spoon onto the blue plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 318, "tasks": ["place spoon"], "length": 210, "global_instruction": "Pick up the black spoon leaning on the stationery holder and place it on the white table", "scene_description": "A white table holds a transparent stationery holder with assorted pens, two black scissors left of the holder, a black spoon leaning on the holder, and a right robotic arm at the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the black spoon leaning on the transparent stationery holder, grasps the spoon, lifts it, moves it over the table surface, lowers it, and releases it onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 319, "tasks": ["place spoon"], "length": 466, "global_instruction": "Pick up a silver spoon and place it into the gray 3-compartment tray.", "scene_description": "A white table has a gray 3-compartment tray at its center, silver spoons to the tray's right, other silver utensils near the tray, a utensil container to the tray's left, and a robotic arm at the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the silver spoons on the right of the gray tray, grasps a spoon, lifts it, moves it over the gray tray, lowers it, and releases it into one of the tray's compartments.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 320, "tasks": ["place spoon"], "length": 320, "global_instruction": "Place the scattered metal spoons on the table into the grey three-compartment tray.", "scene_description": "A grey three-compartment tray, scattered metal utensils including spoons, and a utensil holder with large kitchen tools are placed on a white table, with a white robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves from above the grey tray toward the paired metal spoons on the table, grasps the spoons, adjusts its grip, lifts the spoons, moves back over the tray, releases the spoons into the tray, then moves away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 321, "tasks": ["place spoon"], "length": 539, "global_instruction": "Place a white plastic spoon from the table center onto the empty right wooden plate.", "scene_description": "A white table holds three light wooden circular plates, three white disposable cups, a cluster of white plastic spoons at its center, and one white spoon resting on the plate closest to the camera; a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the cluster of white plastic spoons at the center of the white table, grasps a spoon with its gripper, lifts the spoon, moves it over the empty light wooden plate at the right side of the table, lowers the spoon, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 322, "tasks": ["place spoon"], "length": 427, "global_instruction": "Place a white plastic spoon from the table onto the empty leftmost wooden plate.", "scene_description": "A white table holds three round light brown wooden plates, three small white cups, and three white plastic spoons; two spoons lie on the table between the cups, one spoon rests on the rightmost plate, and a white robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward a white plastic spoon resting on the white table, grasps the spoon with its gripper, lifts the spoon, moves it leftward over the empty leftmost light brown wooden plate, lowers and releases the spoon onto the plate, then moves back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 323, "tasks": ["place spoon"], "length": 215, "global_instruction": "Place the white spoon from the upper right wooden plate beside the small translucent cup on the table.", "scene_description": "A white table holds three round light brown wooden plates, a small translucent cup, and two white spoons (one on the leftmost plate, one on the upper right plate), with a white robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white spoon resting on the upper right light brown wooden plate, grasps the spoon, lifts it, moves it leftward to the area next to the small translucent cup, lowers the spoon, and releases it onto the table surface next to the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 324, "tasks": ["place spoon"], "length": 521, "global_instruction": "Pick up the white plastic spoon from the left wooden plate and place it onto the empty right wooden plate.", "scene_description": "A white table holds three light brown round wooden plates: a white plastic spoon rests on the left plate, while the lower and right plates are empty. A transparent plastic cup sits between the left and right plates, and a white robotic arm is mounted on the right side of the table.", "global_instruction_dense": "The right robotic arm moves from its initial position above the table toward the left wooden plate, grasps the white plastic spoon resting on it, lifts the spoon upward, and moves it horizontally toward the empty right wooden plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 325, "tasks": ["place spoon"], "length": 270, "global_instruction": "Pick up the white plastic spoon on the table and place it onto the stack of light brown wooden plates.", "scene_description": "A white plastic spoon, a stack of light brown round wooden plates, and a clear plastic cup are placed on a white table. The spoon is left of the plate stack, the cup is behind the plate stack, and a robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic spoon left of the wooden plate stack, closes to grasp the spoon, lifts it, moves it rightward over the stack of light brown wooden plates, lowers it, releases the spoon onto the plates, and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 326, "tasks": ["place spoon"], "length": 320, "global_instruction": "Pick up the white plastic spoon from the stack of plates and place it on the table next to the upper white cup.", "scene_description": "A white table holds three white paper cups, a stack of light brown wooden plates, and a white plastic spoon resting on the plates, with a robotic arm positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the stack of wooden plates, grasps the spoon, lifts it, moves it to the area next to the upper white paper cup, lowers the spoon, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 327, "tasks": ["place spoon"], "length": 860, "global_instruction": "Retrieve a white spoon from the silver utensil holder and place it onto the front beige wooden plate on the table.", "scene_description": "Three beige wooden plates, three white cups, and a small silver metallic utensil holder are placed on a white table, with a white robotic arm positioned at the right side of the table, and red/purple chairs and a grey bench in the background.", "global_instruction_dense": "The right robotic arm first twists and adjusts the small silver metallic utensil holder on the white table, retrieves a white spoon from the holder, moves the spoon over the closest front beige wooden plate, lowers the spoon, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 328, "tasks": ["place spoon"], "length": 398, "global_instruction": "Place the white plastic spoon onto the empty leftmost wooden plate", "scene_description": "A white table holds three light wooden plates, three white disposable cups, and a white plastic spoon on the plate closest to the right robotic arm. The background includes a grey bench, an orange bin, and glass entry doors.", "global_instruction_dense": "The right robotic arm first adjusts a small metallic object on the table, then moves to grasp the white plastic spoon from the nearest wooden plate, lifts it, moves it left over the empty leftmost wooden plate, lowers it, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 329, "tasks": ["place spoon"], "length": 1037, "global_instruction": "Place the silver spoon from the table onto the empty light brown plate at the far end of the table.", "scene_description": "A white table holds three light brown circular plates, three white cups next to each plate, two plates have white plastic spoons, and a small silver spoon rests on the table near a right-mounted white robotic arm.", "global_instruction_dense": "The right robotic arm descends to grasp the small silver spoon on the white table, lifts it, moves it to the empty light brown plate at the table's far end, lowers the spoon onto the plate, adjusts its position, then releases the spoon and moves upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 330, "tasks": ["place spoon"], "length": 881, "global_instruction": "Place all white spoons from the three beige plates onto the table next to the white cup.", "scene_description": "Three light beige round plates each holding a white plastic spoon, plus a white cylindrical cup, are arranged on a white table. A white and gray robotic arm is positioned at the table's right end.", "global_instruction_dense": "The right robotic arm sequentially moves to each of the three beige plates, grasps the white spoon from each plate, transports each spoon to the area next to the white cup, releases the spoon, and retracts after all spoons are placed in the target area.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 331, "tasks": ["place spoon"], "length": 821, "global_instruction": "Move the white spoon and white cup onto the wooden plate and then return them to the table", "scene_description": "A white cup, a white plastic spoon, and a round light brown wooden plate are on a white table. The spoon lies next to the cup, the plate is positioned below the cup and spoon, and a robotic arm is mounted on the right edge of the table.", "global_instruction_dense": "The right robotic arm first grasps the white spoon beside the cup, moves and places it onto the wooden plate, then grasps the white cup, moves and places it onto the wooden plate, then moves the cup back to the table, and finally moves the spoon back to the table next to the cup before moving away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 332, "tasks": ["place spoon"], "length": 1304, "global_instruction": "Place white plastic spoons onto each of the three light brown wooden plates on the table.", "scene_description": "A white table holds three light brown round wooden plates, three white paper cups, and one white plastic spoon. The plates are at the near right, middle left, and far end of the table; cups are at the near left, middle right, and far end next to the far plate; the spoon lies between the middle plates, with a robotic arm mounted at the table's right edge.", "global_instruction_dense": "The right robotic arm sequentially grasps white plastic spoons from the table surface, moves each spoon to a distinct light brown wooden plate, and releases each spoon onto its target plate until all three plates have a spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 333, "tasks": ["place spoon"], "length": 840, "global_instruction": "Grasp the white plastic spoon and reposition it to a new spot on the white table.", "scene_description": "Three light brown wooden round plates (one on a clear stand, two on the tabletop) and a white plastic spoon are placed on a white table, with a white robotic arm positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves from its initial position at the right of the table toward the white plastic spoon, adjusts its gripper to grasp the spoon, moves the spoon to a new position closer to the left wooden plate on the table, then releases the spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 334, "tasks": ["place spoon"], "length": 358, "global_instruction": "Place the metal spoon from the white bowl into the white mug with the blue straw.", "scene_description": "A white round table holds a white mug with a blue straw, a small turquoise sanitizer bottle, a white bowl with a metal spoon, a multicolor Rubik's cube, a small green cube, a silver insulated bottle, and a small black item, with a lab workspace (monitors, robotic equipment, tripods) in the background.", "global_instruction_dense": "The right robotic arm descends toward the white bowl on the table, grasps the metal spoon inside the bowl, lifts the spoon, moves it left toward the white mug, lowers the spoon into the mug, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 335, "tasks": ["place spoon"], "length": 340, "global_instruction": "Place the black spoon on the table into the blue cutlery tray", "scene_description": "A white table holds an orange beverage can, a blue cutlery tray with utensils inside, a black spoon to the right of the tray, and a white plate to the right of the spoon; a right robotic arm is positioned near the table, with a gray sofa with a black backpack in the background.", "global_instruction_dense": "The right robotic arm moves toward the black spoon on the white table, grasps the spoon, lifts it, moves it over the blue cutlery tray, lowers it into an empty slot in the tray, and releases the spoon to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 336, "tasks": ["place spoon"], "length": 798, "global_instruction": "Reposition the white plate and place a spoon from the blue cutlery tray next to it.", "scene_description": "A white table holds an orange beverage can on the left, a blue cutlery tray with metal utensils in the center, a white plate to the right of the tray, and a white robotic arm on the table's right edge.", "global_instruction_dense": "The right robotic arm first moves toward the white plate, grasps and lifts it, moves it to a new position on the table and releases it, then moves to the blue cutlery tray, grasps a metal spoon, lifts it, moves it beside the repositioned plate, lowers it, and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 337, "tasks": ["place spoon"], "length": 353, "global_instruction": "Place the loose metal spoon on the table into the blue tray", "scene_description": "A white table holds an orange beverage can, a blue tray with metal spoons, a white shallow bowl, and a loose metal spoon next to the bowl. A robotic arm is positioned on the right side of the table, with a grey sofa and black backpack in the background.", "global_instruction_dense": "The right robotic arm moves toward the loose metal spoon next to the white bowl, grasps the spoon with its gripper, lifts it, moves it over the blue tray, lowers it, releases it into an empty slot in the blue tray, then lifts away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 338, "tasks": ["place spoon"], "length": 550, "global_instruction": "Remove the silver spoon from the black mug, place it next to the plate, then reposition the black mug on the table.", "scene_description": "A white round table in a lab holds a red-yellow cube pair, green book, small black remote, yellow cup, red bar, black mug with a silver spoon inside, and a white plate on a black placemat, with a right robotic arm positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the black mug on the white round table, grasps the silver spoon inside the mug, lifts the spoon out, moves it next to the white plate, places the spoon on the table, then grasps the black mug, moves it to a new position, releases the mug, and retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 339, "tasks": ["place spoon"], "length": 430, "global_instruction": "Take a spoon from the black mug and place it on the black mat on the table", "scene_description": "A white round table holds a green book, stacked red and yellow blocks, a black remote, small green and orange blocks, a white pen holder with pens, a black mug atop a black mat, and other small items, with a right robotic arm positioned off the right side of the table in a lab environment with tripods and additional robotic equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the black mug on the white round table, grasps a spoon inside the mug, lifts the spoon out, moves it over the adjacent black mat, releases the spoon onto the mat, then retracts back to its initial resting position.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 340, "tasks": ["place spoon"], "length": 558, "global_instruction": "Pick up the spoon from the orange plate, scoop the food on the plate, and place the spoon into the dark gray cup", "scene_description": "A white round table holds an orange plate with orange food and a metal spoon, a dark gray cup, and a white mug with a yellow interior. A white robotic arm is positioned to the right of the table, a red robotic arm is on the left, and the background is an office space with desks, computers, and a purple chair.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon resting on the orange plate on the white table, grasps the spoon, lifts it to scoop the orange food on the plate, moves the spoon over to the dark gray cup, lowers the spoon into the cup, releases the spoon, then retracts its arm away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 341, "tasks": ["place spoon"], "length": 187, "global_instruction": "Remove the white-tipped spoon from the silver pot then place it back into the pot.", "scene_description": "A wooden table holds a silver metal pot with a white-tipped spoon inside, in a workshop with office chairs, workbenches, and robotic equipment in the background.", "global_instruction_dense": "The left robotic gripper moves toward the silver pot on the wooden table, grasps the white-tipped spoon inside the pot, lifts the spoon out of the pot, moves the spoon back over the pot, lowers it into the pot, releases the spoon, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 342, "tasks": ["place spoon"], "length": 214, "global_instruction": "Place the small white spoon into the silver metal pot on the wooden table.", "scene_description": "A small silver metal pot and a small white spoon are placed on a brown wooden table in a lab workspace, with a grey office chair, work equipment, and storage items in the background.", "global_instruction_dense": "The left robotic arm moves toward the small white spoon next to the silver metal pot on the wooden table, grasps the spoon, lifts it, moves it over the pot, releases the spoon into the pot, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 343, "tasks": ["place spoon"], "length": 195, "global_instruction": "Remove the spoon from the metal pot and place it on the adjacent wooden table surface.", "scene_description": "A silver metal pot holding a white spoon sits on a brown wooden worktable, with a cardboard sheet and light wooden plank propped behind the pot, and a robotic arm is positioned above the table in a workshop with desks, office chairs, and boxes in the background.", "global_instruction_dense": "The left robotic arm moves down to the metal pot on the wooden table, grasps the spoon inside the pot, lifts the spoon out, moves it to the left side of the pot, lowers it onto the table, releases it, and then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 344, "tasks": ["place spoon"], "length": 217, "global_instruction": "Pick up the orange-handled spoon and place it on the wooden table near the small orange block.", "scene_description": "A brown wooden table holds a folded light blue cloth, an orange circular plate, a small orange rectangular block, an orange-handled metal spoon next to the plate, and a light wood plank leaned against a cardboard partition at the table's rear. A white robotic arm is positioned above the table's left side, with workshop equipment in the background.", "global_instruction_dense": "The left robotic arm moves toward the orange-handled spoon next to the orange plate, grasps it, lifts it, moves it right across the table, and places it near the small orange block.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 345, "tasks": ["place spoon"], "length": 224, "global_instruction": "Reposition the orange-handled spoon on the brown wooden table.", "scene_description": "A brown wooden table holds a folded light blue cloth, a bright orange plate, an orange-handled metal spoon, and a light wooden board propped against a brown cardboard box. A stack of multicolored plates in a white basin sits to the right of the table, and a black robotic work platform with orange clamps is to the left of the table.", "global_instruction_dense": "The right robotic gripper enters the scene from above, moves down toward the orange-handled spoon on the table, grasps the spoon, lifts and moves it to a new position on the table, releases the spoon, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 346, "tasks": ["place spoon"], "length": 182, "global_instruction": "Reposition the green-handled spoon on the table closer to the folded blue cloth.", "scene_description": "A brown wooden table holds a folded blue cloth on its left, a green-handled spoon right of the cloth, a yellow plate with a white rice ball (black band) on the right, and a stainless steel bowl with a marker near the front left.", "global_instruction_dense": "The right robotic gripper moves downward toward the green-handled spoon on the brown table, grasps it, lifts it, moves it leftward near the folded blue cloth, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 347, "tasks": ["place spoon"], "length": 222, "global_instruction": "Move the green-handled spoon on the table to a position near the folded blue cloth.", "scene_description": "A brown work table holds a folded light blue cloth, a white-and-black egg-shaped object, a green-handled metal spoon, a bright yellow circular plate, and a stainless steel pot with a black marker inside. A stationary white robotic arm is on the left of the frame, a movable robotic arm is above the table, with lab equipment and a seated person in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the green-handled spoon on the brown table, grasps the spoon with its gripper, lifts it, moves it horizontally to a position adjacent to the folded light blue cloth, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 348, "tasks": ["place spoon"], "length": 154, "global_instruction": "Move the green-handled spoon to the right side of the table near the blue towel", "scene_description": "A wooden table in a robotics lab holds a yellow round plate, a green-handled spoon, a black-and-white ball, a folded blue towel, and a stainless steel pot with a marker inside. A FRANKA EMIKA robotic arm is at the left of the table, with other lab equipment in the background.", "global_instruction_dense": "The right robotic arm lowers toward the green-handled spoon on the middle of the wooden table, grasps it, lifts it, moves it rightward across the table, and places it near the folded blue towel on the table's right side.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 349, "tasks": ["place spoon"], "length": 207, "global_instruction": "Move the green-handled spoon to a new position on the brown table.", "scene_description": "A brown wooden table in a robotics lab holds a yellow plate with a white ball, a green-handled spoon, a folded blue towel, and a stainless steel pot containing a marker.", "global_instruction_dense": "The right robotic arm moves toward the green-handled spoon on the right of the brown table, grasps the spoon, lifts it, moves it left to a new spot, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 350, "tasks": ["place spoon"], "length": 189, "global_instruction": "Place the orange-handled spoon next to the orange bowl on the wooden table.", "scene_description": "A brown wooden table in a lab workspace holds a folded yellow cloth, an orange-handled spoon, an orange bowl, and a small yellow pastry beside the bowl.", "global_instruction_dense": "The right robotic gripper moves into position above the orange-handled spoon next to the yellow cloth, grasps the spoon, moves it rightward to the area next to the orange bowl, sets it down on the table, then releases the spoon and moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 351, "tasks": ["place spoon"], "length": 162, "global_instruction": "Pick the orange toy spoon from the toy kitchen sink and place it into a stovetop burner.", "scene_description": "A wooden toy kitchen set is on a work surface, with an orange toy spoon inside its sink, four black stovetop burners adjacent to the sink, and work equipment/cables to the left of the kitchen.", "global_instruction_dense": "The left robotic arm moves above the toy kitchen sink, lowers to grasp the orange spoon inside the sink, lifts the spoon, moves it to a lower stovetop burner, lowers and releases the spoon into the burner, then lifts away from the stovetop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 352, "tasks": ["place spoon"], "length": 234, "global_instruction": "Take the red-handled spoon out of the red cup and place it on the white tray.", "scene_description": "A white round table holds a white tray, on which are a red plate with a white mug, a red cup with a red-handled spoon inside, a wooden busy board, a red bowl, a green bottle, an egg rack with eggs, and silver containers. No robotic arm is visible in the initial frame.", "global_instruction_dense": "The left robotic arm enters from above the table, moves down to the red cup on the white tray, grasps the red-handled spoon inside the cup, lifts the spoon out of the cup, and places it on the tray beside the red cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 353, "tasks": ["place spoon"], "length": 263, "global_instruction": "Pick up the red-handled spoon and place it on the white tray near the red plate.", "scene_description": "A white round table in a lab holds a white tray with a red plate (holding a small white bottle), red mug, white mug, red-handled metal spoon, wooden activity board, red bowl of dark contents, green bottle, egg holder with four brown eggs, and small metal containers, with a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm moves toward the red-handled spoon next to the red mug, grasps it with its gripper, lifts it, moves it left over the white tray near the red plate, lowers it, and releases it onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 354, "tasks": ["place spoon"], "length": 288, "global_instruction": "Place the red-handled spoon into the white mug on the table tray", "scene_description": "A white round table holds a white tray with various items: a red plate with a small white-capped bottle, a red-handled spoon, a white mug, a red mug, a wooden busy board toy, a red bowl with dark contents, red cutlery, a small green bottle, a clear measuring cup, and an egg carton with four eggs. A robotic arm is positioned at the top left of the frame, with a glass door, whiteboard, and chair in the background.", "global_instruction_dense": "The left robotic arm moves down from the upper left, grasps the red-handled spoon on the white tray, lifts it, moves it rightward over the white mug, lowers the spoon into the mug, releases it, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 355, "tasks": ["place spoon"], "length": 258, "global_instruction": "Take the red-handled spoon from the white mug and place it on the tray beside the wooden activity board.", "scene_description": "A white round table holds a white tray with a red plate, a red mug, a white mug with a red-handled spoon inside, and a wooden activity board. Additional items including a red bowl, egg carton, and green bottle are on the table right of the tray, and a robotic arm is positioned at the upper left near a glass door.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the tray, grasps the red-handled spoon inside the mug, lifts the spoon out of the mug, moves it over the tray to the area next to the wooden activity board, and places the spoon down on the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 356, "tasks": ["place spoon"], "length": 177, "global_instruction": "Pick up the black-handled spoon on the table and place it back onto the table.", "scene_description": "A white round table holds a black-handled spoon, a white napkin with red stripes, a red bowl of dark grains, a silver metal bowl, a red mug, metal chopsticks, and a lidded black pot. A robotic arm base with green lights sits to the left of the table, and a robotic gripper is positioned above the upper right of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the black-handled spoon on the white table, grasps the spoon, lifts it upward, then lowers the spoon back to the table surface and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 357, "tasks": ["place spoon"], "length": 261, "global_instruction": "Place the metal spoon from the red mug onto the white striped table cloth.", "scene_description": "A white round table holds a silver metal bowl, a red ceramic mug, a red plastic bowl with dark contents, a black-handled cooking spoon, a white cloth with red stripes, and long metal utensils. A Franka Emika robotic arm base with green indicator lights is to the left of the table, with cardboard cabinets, a white door, and an office chair in the background.", "global_instruction_dense": "The right robotic arm moves down toward the red mug on the table, grasps the metal spoon inside the mug, lifts the spoon out, moves it over the white striped cloth on the table, lowers it, and releases it onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 358, "tasks": ["place spoon"], "length": 207, "global_instruction": "Place the silver spoon into the red bowl", "scene_description": "A white round table holds a silver metal bowl, a red cup, a red bowl with dark contents, a white cloth with red stripes, a silver spoon, a black-handled ladle, and a lidded black pot. A Franka Emika robotic arm is positioned to the left of the table, with its gripper above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the silver spoon on the white striped cloth, grasps the spoon, lifts it, moves it over the red bowl, releases it into the bowl, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 359, "tasks": ["place spoon"], "length": 162, "global_instruction": "Move the metal spoon from the silver bowl to dip in the red mug then return it to the silver bowl.", "scene_description": "A round white table holds a red mug, a silver stainless steel bowl behind the mug, a red bowl with a fake tomato, a black spoon, a white towel with red stripes, and a black lidded pot. A Franka Emika robotic arm base with green lights is positioned to the left of the table, with the robotic end effector initially outside the top of the frame.", "global_instruction_dense": "The right robotic gripper moves down from the top of the frame, grasps the metal spoon in the silver bowl, dips the spoon into the adjacent red mug, then places the spoon back into the silver bowl before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 360, "tasks": ["place spoon"], "length": 206, "global_instruction": "Pick up the black spoon on the table and place it next to the red bowl.", "scene_description": "A white round table holds a red mug, a stainless steel bowl, an orange toy tomato, a black spoon with a silver handle, a red bowl with dark contents, metal utensils, and a black rice cooker on its right, with a robotic arm above the table.", "global_instruction_dense": "The right robotic arm moves down toward the black spoon on the table, grasps it with its gripper, lifts the spoon, moves it toward the red bowl, places it on the table beside the bowl, and releases the grip.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 361, "tasks": ["place spoon"], "length": 358, "global_instruction": "Move the red-handled spoon on the table to a new position on the table.", "scene_description": "A white round table holds a black frying pan with three light yellow food items, a red plate with dark food, silver metal cups, a white mug, a red-handled spoon, a small orange lid, a red knife, and a green squeeze bottle, adjacent to a glass-paneled white door. A white robotic arm is positioned at the left edge of the frame.", "global_instruction_dense": "The left robotic arm moves from its initial left position toward the red-handled spoon on the white table, grasps the spoon, lifts and moves it to a new table position, releases the spoon, and moves back upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 362, "tasks": ["place spoon"], "length": 238, "global_instruction": "Place the red spoon from the red bowl onto the table next to the red mug", "scene_description": "A white round table holds a red plate with dark food, a red bowl with dark food and a red spoon, a red mug, a white mug, assorted metal kitchenware, a green squeeze bottle, a frying pan with a white cloth, a clear plastic bottle, and a small shaker, with a robotic arm positioned above the table's left side.", "global_instruction_dense": "The left robotic arm moves downward toward the red bowl on the table, grasps the red spoon inside the bowl, lifts the spoon, moves it toward the red mug, then releases the spoon onto the table surface next to the red mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 363, "tasks": ["place spoon"], "length": 323, "global_instruction": "Pick up the red-handled spoon from the red mug and place it into the front red bowl.", "scene_description": "A white round table holds a red mug with a red-handled spoon inside, a white mug, two red bowls with dark contents, a black frying pan with a white cloth, assorted metal kitchenware, a green squeeze bottle, and a small clear container. A robotic arm is positioned on the left above the table.", "global_instruction_dense": "The left robotic arm moves toward the red mug, grasps the red-handled spoon inside the mug, lifts the spoon out of the mug, moves it to the front red bowl, attempts to scoop the bowl's contents, then releases the spoon into the front red bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 364, "tasks": ["place spoon"], "length": 195, "global_instruction": "Place the red-handled spoon from the gray mug into the lower red bowl holding dark food.", "scene_description": "A white round table holds various kitchen items: a black frying pan with a white cloth, stainless steel bowls and lids, two red bowls with dark food, a red mug, a gray mug with a red-handled spoon inside, a small orange container, a green squeeze bottle, a red-handled knife, a clear measuring cup, and a small spice shaker. A robotic arm is positioned to the left of the table, with a door and white walls in the background.", "global_instruction_dense": "The left robotic arm moves from its initial position left of the table toward the gray mug on the table, grasps the red-handled spoon inside the gray mug, lifts the spoon out of the mug, moves the spoon over the lower red bowl with dark contents, and lowers the spoon into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 365, "tasks": ["place spoon"], "length": 172, "global_instruction": "Place the red-handled spoon from the red bowl into the red plastic cup", "scene_description": "A white round table holds assorted kitchen items: a red bowl with a red-handled metal spoon inside, a red plate with dark food, a red plastic cup, a white mug, a black frying pan with a white cloth, a green vegetable, multiple metal lids, a red-handled knife, a small orange cap, and a small grey spice shaker. A white and black robotic arm is positioned at the left above the table.", "global_instruction_dense": "The left robotic arm moves down toward the red bowl on the table, grasps the red-handled metal spoon inside the bowl, lifts the spoon, moves it over the red plastic cup, and releases the spoon into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 366, "tasks": ["place spoon"], "length": 291, "global_instruction": "Place the black spoon on the table into the black saucepan.", "scene_description": "A white round table holds a black saucepan, a black spoon with a silver handle, a glass pot lid, a red bowl, a red mug, and a white cloth. A robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the black spoon on the table, grasps it, lifts it, moves it over the black saucepan, lowers it into the pan, releases the spoon, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 367, "tasks": ["place spoon"], "length": 549, "global_instruction": "Remove the black spoon from the black pot and place it on the white table.", "scene_description": "A white round table holds a black pot with a red tomato and a black spoon inside, a clear glass pot lid, a white towel with red stripes, a red bowl, a red cup with a spoon, and a clear plastic cup, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the black pot on the white table, repeatedly attempts to grasp the red tomato inside the pot, then grasps the black spoon in the pot, lifts it out of the pot, and places it on the table next to the pot lid.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 368, "tasks": ["place spoon"], "length": 492, "global_instruction": "Place the red-handled spoon into the lower right red bowl, place the bowl into the black pot, then return the spoon to the table.", "scene_description": "A white round table holds a black cooking pot at its center, a glass pot lid above the pot, two red bowls to the right of the pot, a red-handled metal spoon on the table below the pot, a red cup with a spoon inside at the table's top right, a black ladle at the table's right edge, and white containers between the right red bowl and the red cup. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the red-handled spoon on the table, grasps it, moves it over the lower right red bowl and releases it into the bowl, then grasps the red bowl, lifts it and places it into the black cooking pot, then retrieves the spoon from the pot and places it back on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 369, "tasks": ["place spoon"], "length": 367, "global_instruction": "Pick a spoon from the red bowl and place it back into the red bowl.", "scene_description": "A round table with blue and white checkered tablecloth holds a red bowl (with utensils inside) and a clear plastic pitcher, the red bowl is left of the pitcher, a robotic gripper is above the table.", "global_instruction_dense": "The left robotic arm moves downward toward the red bowl, grasps the spoon inside, lifts and moves the spoon over the table, then lowers the spoon back into the red bowl and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 370, "tasks": ["place spoon"], "length": 357, "global_instruction": "Pick up the spoon from the red bowl and place it back into the red bowl", "scene_description": "A round table covered with a blue and white checkered tablecloth holds a red bowl, a clear plastic measuring cup, and a small white container. A robotic arm is positioned above the left side of the table, and a person works at a computer desk to the left of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the red bowl on the checkered table, grasps the spoon inside the bowl, lifts the spoon and moves it above the table, then lowers the spoon back into the red bowl and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 371, "tasks": ["place spoon"], "length": 309, "global_instruction": "Pick up the red spoon from the red bowl and place it back into the red bowl.", "scene_description": "A round table with a blue-and-white checkered tablecloth holds a red bowl containing dark food and a red spoon, a small white bottle to the left of the bowl, and two clear plastic cups to the right of the bowl. A robotic arm is at the top left of the frame, and a desk with a computer and office supplies is in the left background.", "global_instruction_dense": "The left robotic arm moves toward the red spoon in the red bowl, grasps the spoon, lifts it out of the bowl, then lowers it back into the bowl and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 372, "tasks": ["place spoon"], "length": 264, "global_instruction": "Pick up the spoon from the red bowl and reposition it back into the bowl.", "scene_description": "A round table covered with blue and white checkered cloth holds a red bowl with a spoon inside, a transparent measuring cup, a small white bottle, and a small gray cup. A white desk with office supplies is to the left of the table, and a robotic arm is at the top left of the view.", "global_instruction_dense": "Left robotic arm moves toward the red bowl on the checkered table, grasps the spoon inside the bowl, lifts it out, adjusts its position above the table, then lowers and places the spoon back into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 373, "tasks": ["place spoon"], "length": 329, "global_instruction": "Move the silver spoon from the red cup to the table next to the red bowl", "scene_description": "A white round table holds a black two-handle pot, clear glass pot lid with black knob, red cup, red bowl, silver metal bowl, silver spoon inside the red cup, small white rectangular box, and red-striped napkins; a robotic arm setup is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm extends toward the red cup, grasps the silver spoon inside the cup, lifts the spoon out of the cup, moves it to the area next to the red bowl, lowers it, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 374, "tasks": ["place spoon"], "length": 132, "global_instruction": "Remove the white spoon from the dark green mug and place it on the white table.", "scene_description": "A dark green mug with a white printed logo, holding a white spoon, sits on a white table marked with blue boundary lines. A left robotic arm is positioned above the table in the upper background.", "global_instruction_dense": "The left robotic arm moves downward toward the mug, grasps the white spoon inside the mug, lifts the spoon out of the mug, moves it to the side of the mug, lowers it onto the table surface, releases the spoon, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 375, "tasks": ["place spoon"], "length": 232, "global_instruction": "Pick the white plastic spoon from the grey bowl and place it on the white plate.", "scene_description": "A white tiled kitchen counter holds a black analog clock, green container, grey bowl with white plastic spoon, white ceramic plate, small white spool, white cloth, and blue cup from left to right, with a left robotic arm at the counter's right edge.", "global_instruction_dense": "The left robotic arm moves toward the white spoon in the grey bowl, grasps and lifts it out of the bowl, moves it over the white plate, lowers it, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 376, "tasks": ["place spoon"], "length": 214, "global_instruction": "Place the white spoon from the plate into the small blue cup behind the red-lidded jug.", "scene_description": "A white tiled kitchen counter holds a black analog clock on the far left, a metal bowl with white powder, a white plate with a white spoon on it, a white jug with a red lid, and a small light blue cup, with a stationary robotic unit on the right edge of the frame.", "global_instruction_dense": "The left robotic arm moves downward toward the white spoon on the plate, grasps the spoon, lifts it, moves it toward the small blue cup behind the red-lidded jug, lowers the spoon into the cup, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 377, "tasks": ["place spoon"], "length": 161, "global_instruction": "Pick up the spoon from the white plate and place it into the blue cup.", "scene_description": "A white tiled kitchen counter holds a white granulated sugar box at the front left, a black vintage clock behind the sugar, a white plate, a white bowl, and a blue cup further back, with a robotic arm initially positioned at the top right.", "global_instruction_dense": "The right robotic arm moves downward from above the kitchen counter to the white plate, grasps the spoon resting on the plate, lifts the spoon, moves it to the blue cup, releases the spoon into the cup, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 378, "tasks": ["place spoon"], "length": 360, "global_instruction": "Pick up the silver spoon from the table and place it into the lower beige bowl.", "scene_description": "A table with a blue lemon-patterned tablecloth holds a brown McDonald's paper bag on the left, yellow bananas, a striped tissue holder, a white paper towel roll, a white ceramic bowl with a pink item inside, a silver spoon, multiple green snack packets, and a lower beige bowl near the camera. A right robotic arm is positioned above the right side of the table, with a kitchen with floral-curtained windows in the background.", "global_instruction_dense": "The right robotic arm adjusts green snack packets on the table to clear space, grasps the silver spoon, lifts it, moves it toward the lower beige bowl near the camera, then releases the spoon onto the table next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 379, "tasks": ["place spoon"], "length": 332, "global_instruction": "Adjust the position of the metal spoon on the lemon-patterned tablecloth.", "scene_description": "A kitchen table is covered with a light blue tablecloth printed with yellow lemons and green leaves. On the table, a silver canned drink, a yellow cup with a blue lid, a white trash bin with a light green liner, a small light grey empty bowl, a metal spoon, a large white shallow bowl, and a small green round object are placed. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward from its initial position above the table to reach the metal spoon, grasps the spoon with its gripper, adjusts its position on the tablecloth, then releases the spoon and moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 380, "tasks": ["place spoon"], "length": 311, "global_instruction": "Place the silver spoon on the table into the small light grey bowl", "scene_description": "A table covered with a blue tablecloth printed with yellow lemons and green leaves holds a silver soda can, a small light grey bowl, a silver spoon, a large white bowl, a small green container, a white trash bin with a green liner, a yellow cup with a purple lid, and a dark blue notebook. Windows with floral curtains and a framed picture are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the silver spoon on the table, grasps the spoon, lifts it, moves it over the small light grey bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 381, "tasks": ["place spoon"], "length": 746, "global_instruction": "Pick up the metal spoon from the table and place it next to the white floral mug", "scene_description": "A table with a lemon and leaf print tablecloth holds a white bowl with black leaf designs, a green cloth, metal tongs, a white mug with orange floral art, a metal spoon, a small purple container with a green spiky item, a green scrubber, small tools, and a brown bottle. A white robotic arm is positioned above the right of the table, with floral curtained windows, wooden chairs, yellow storage baskets, a paper towel roll, and a gold-framed wall picture in the background.", "global_instruction_dense": "The right robotic arm lowers toward the metal spoon on the table, grasps it with its gripper, lifts the spoon, moves it toward the white floral mug, then lowers and places the spoon on the table next to the mug before returning to a raised position.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 382, "tasks": ["place spoon"], "length": 318, "global_instruction": "Place the black cooking spoon on the kitchen counter into the small black cup.", "scene_description": "A white tiled kitchen counter holds, from left to right: a red circular container on a white stove edge, a black knife block, a small black cup, a black cooking spoon, a white plate, a wooden rolling pin, and a clear bowl. A robotic arm is positioned at the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the black cooking spoon on the kitchen counter, grasps it with its gripper, lifts the spoon, moves it over the small black cup, and releases the spoon into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 383, "tasks": ["place spoon"], "length": 145, "global_instruction": "Pick up the silver spoon from the white plate and place it beside the plate on the placemat.", "scene_description": "A dark wooden dining table has a white plate with a silver spoon on a light placemat in the foreground, a FRANKA robotic arm is positioned at the far end of the table, a living room is visible through a central doorway, a wooden chair and a cabinet with yellow flowers are on the left side of the room.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon resting on the white plate, grasps the spoon, lifts it, moves it to the area beside the plate on the placemat, lowers it, and releases the spoon there.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 384, "tasks": ["place spoon"], "length": 231, "global_instruction": "Pick up the silver spoon inside the black mug and place it next to the other silver spoon on the white paper mat.", "scene_description": "A wooden dining table holds a black mug on a white plate, with one silver spoon inside the mug and another silver spoon on a white paper mat beside the plate. A white robotic arm is at the right of the table, with a white dresser, blinds-covered windows, and a living room in the background.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon inside the black mug, grasps the spoon, lifts it out of the mug, moves it over the white paper mat next to the other silver spoon, releases the spoon onto the mat, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 385, "tasks": ["place spoon"], "length": 425, "global_instruction": "Move the salt shaker off the white plate, then place the plate's silver spoon into the black mug.", "scene_description": "A wooden dining table holds a white plate with silver cutlery and a clear salt shaker, a black mug, a green cloth, and a remote control, with a right robotic arm positioned above the table, a white dresser by shuttered windows, and a wooden chair beside the dresser.", "global_instruction_dense": "The right robotic arm first grasps the clear salt shaker on the white plate, lifts it, places it on the wooden table next to the plate, then grasps the silver spoon from the plate, lifts it, moves it to the black mug, lowers it, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 386, "tasks": ["place spoon"], "length": 369, "global_instruction": "Pick up the metal spoon on the kitchen counter and place it on the white plate.", "scene_description": "A white tiled kitchen counter holds a pink-white sugar box, green cloth, black vintage alarm clock, two clear water bottles, black measuring cup, metal spoon, and white plate, with a microwave on the left, upper white cabinets, a robotic arm on the right, and an open drawer below the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the kitchen counter, grasps it, lifts it, moves it over the white plate, lowers the spoon onto the plate, releases it, and pulls away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 387, "tasks": ["place spoon"], "length": 488, "global_instruction": "Pick up the dark spoon from the kitchen counter and place it into the open lower drawer.", "scene_description": "A white tiled kitchen counter holds a pink-and-white sugar box, green cloth, black vintage clock, two clear water bottles, small black cup, plates with a dark spoon, and an open drawer below; a microwave with a rolling pin on top sits to the left of the counter, and a white robotic arm is positioned at the right side of the counter under illuminated upper cabinets.", "global_instruction_dense": "The right robotic arm moves toward the dark spoon on the kitchen counter, grasps the spoon, lifts it, moves it down over the open drawer below the counter, releases the spoon into the drawer, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 388, "tasks": ["place spoon"], "length": 912, "global_instruction": "Pick up silver spoons from the table clutter and place them into the dark rectangular tray on the dining table.", "scene_description": "A wooden dining table holds a black mug on a white saucer, a black rectangular remote, a silver spoon on a white napkin, and assorted clutter at its far end. A robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the cluttered end of the dining table, repeatedly grasps individual silver spoons from the clutter, moves each spoon over the dark rectangular tray near the table center, and releases the spoon into the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 389, "tasks": ["place spoon"], "length": 354, "global_instruction": "Place the metal spoon from the counter into the red bowl", "scene_description": "A kitchen counter holds a silver microwave with a red round pizza pan on top, a small red bowl, and a metal spoon, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the metal spoon on the kitchen counter, lifts and moves it over the red bowl, releases the spoon into the bowl, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 390, "tasks": ["place spoon"], "length": 434, "global_instruction": "Take the silver spoon out of the dark bag on the sofa and place it on the white paper next to the remote control.", "scene_description": "A gray sofa sits next to a large window, a black remote rests on white paper on the sofa, a silver spoon is inside a dark fabric bag on the sofa, and a white robotic arm is mounted on a platform to the right of the sofa.", "global_instruction_dense": "The right robotic arm moves toward the dark bag on the gray sofa, reaches into the bag to grasp the silver spoon inside, lifts the spoon out of the bag, moves it over the white paper on the sofa beside the black remote, and releases the spoon onto the paper.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 391, "tasks": ["place spoon"], "length": 323, "global_instruction": "Pick up the silver spoon from the couch and place it onto the dark fabric on the couch.", "scene_description": "A gray couch is on the left, with a black remote, silver spoon, white napkin, and dark fabric on its surface. A yellow table lamp and white tower fan are behind the couch, and a white robotic arm is positioned to the right of the couch.", "global_instruction_dense": "The left robotic gripper moves toward the silver spoon on the gray couch, grasps it, lifts and adjusts its orientation, then releases it onto the dark fabric on the couch.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 392, "tasks": ["place spoon"], "length": 504, "global_instruction": "Place the silver spoon on the table into the white paper filter bowl", "scene_description": "A brown wooden tabletop holds a black keyboard, a silver spoon to the right of the keyboard, a white paper filter bowl behind the keyboard, a straw hat further back, a woven wooden basket on the left edge, a small black measuring cup at the lower left, and a glass seasoning shaker resting on blue tape at the lower center. A white cabinet with drawers is behind the left side of the table, and a gray sofa is in the far background room.", "global_instruction_dense": "The left robotic arm moves down toward the silver spoon on the table, grasps it, lifts the spoon, moves it over the white paper filter bowl, lowers it into the bowl, and releases the spoon, which causes the bowl to tip over onto a white cloth on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 393, "tasks": ["place spoon"], "length": 352, "global_instruction": "Place the metal spoon from the wooden table next to the glass jar on the toaster oven.", "scene_description": "A wooden table holds a white toaster oven (with blue painter's tape and a clear labeled glass jar on top), a crumpled white tissue, a black keyboard, a white ramekin, a beige hat, a metal spoon, and other small items in the background. A white Franka robotic arm system is positioned on the right side of the table.", "global_instruction_dense": "The left robotic arm lowers toward the metal spoon resting on the wooden table, grasps the spoon with its gripper, lifts it up, moves it leftward above the white toaster oven, lowers it to place it beside the clear glass jar on top of the toaster oven, releases the spoon, then lifts its gripper back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 394, "tasks": ["place spoon"], "length": 421, "global_instruction": "Pick up the silver spoon from the table, move it around the rear table area, then place it back onto the table.", "scene_description": "A dark brown wooden tabletop holds a silver metal spoon, orange-handled slotted metal spatula, black keyboard, and white HP printer on the left, with hats and assorted household items in the background, and a robotic arm mounted to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the dark wooden table, grasps the spoon with its gripper, lifts it, moves it around the rear section of the table near the hats, then brings it back toward the keyboard area and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 395, "tasks": ["place spoon"], "length": 471, "global_instruction": "Pick up a large metal spoon from the kitchen counter, place it into the open trash bin, then close the trash bin lid.", "scene_description": "A white tiled kitchen counter holds two metal spoons, an open light-green-lidded trash bin, a paper towel roll, a black analog clock, a red plastic container, and several white hangers, with a Franka Emika robotic arm positioned above the counter near the trash bin.", "global_instruction_dense": "The right robotic arm moves toward the larger metal spoon on the tiled kitchen counter, grasps and lifts it, moves it over the open trash bin and releases it into the bin, then pushes the trash bin's green lid closed before moving back toward the remaining small metal spoon on the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 396, "tasks": ["place spoon"], "length": 439, "global_instruction": "Dispose one metal spoon from the counter into the trash bin, close the trash lid, then grasp the remaining metal spoon.", "scene_description": "A white tiled kitchen counter holds two metal spoons at its center, an open trash bin with a green lid at the back, a white paper towel roll, a black analog clock, and a red container on the left. A robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the smaller metal spoon on the counter, grasps it, lifts and moves it over the open trash bin to drop it inside, then moves to close the trash bin's green lid, and finally moves to grasp the larger remaining metal spoon on the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 397, "tasks": ["place spoon"], "length": 670, "global_instruction": "Place the metal spoon on the wooden table in a new position on the table surface.", "scene_description": "A wooden table holds a black keyboard, a white rectangular box left of the keyboard, a metal spoon near the keyboard, and miscellaneous items including a tan hat and white bunny figurines at the table's far end. A white Franka robotic arm is mounted on a green-lit platform to the table's right, and a second robotic arm is positioned above the far end of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the metal spoon on the wooden table, grasps it, moves it across the table to adjust its position, then releases the spoon at the new location.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 398, "tasks": ["place spoon"], "length": 164, "global_instruction": "Remove the white spoon from the white mug and place it on the blue cloth.", "scene_description": "A white gas stovetop sits in a white tiled kitchen. A blue cloth rests on the front of the stovetop, with a white printed mug holding a white spoon on the cloth. A dark green kettle is on the back right burner, a wooden knife block with knives is behind the stove, and a white refrigerator is at the far right.", "global_instruction_dense": "The right robotic arm moves toward the white spoon inside the white mug on the blue cloth, grasps the spoon, lifts it out of the mug, moves it over the blue cloth, then releases the spoon onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 399, "tasks": ["place spoon"], "length": 388, "global_instruction": "Pick up the silver spoon from the table and place it onto the white plate", "scene_description": "A wooden tabletop holds a black keyboard, a silver metal spoon, a beige ring-shaped bowl, a white plate, and assorted small items. A robotic arm is mounted on the right side of the table.", "global_instruction_dense": "The right robotic arm descends toward the silver spoon on the table, grasps it, lifts it, moves it leftward over the white plate, and releases the spoon onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 400, "tasks": ["place spoon"], "length": 206, "global_instruction": "Pick up the white plastic spoon and place it into the white cup", "scene_description": "A white gas stovetop has a blue cloth, a white cup on the cloth, and a white plastic spoon on the cloth. A dark green kettle, wooden knife block, and white refrigerator are in the background against white tiled walls.", "global_instruction_dense": "The right robotic gripper lowers toward the white plastic spoon on the blue cloth on the stovetop, grasps the spoon, lifts it, moves it over the white cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 401, "tasks": ["place spoon"], "length": 171, "global_instruction": "Take the white plastic spoon out of the mug and place it on the blue cloth.", "scene_description": "A white gas stove in a tiled kitchen, with a white mug holding a white plastic spoon on a blue cloth at the stove's left edge, a dark teal kettle on the rear right burner, a knife block behind the stove, and a white refrigerator on the far right.", "global_instruction_dense": "The right robotic arm moves down toward the white plastic spoon in the white mug, grasps the spoon, lifts it out of the mug, moves it left over the blue cloth, lowers it, releases it onto the cloth, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 402, "tasks": ["place spoon"], "length": 256, "global_instruction": "Place the white plastic spoon into the white mug on the blue cloth.", "scene_description": "A white gas stove is in a kitchen with white tiled backsplash. A blue cloth rests on the stove left of the burners, holding a white mug and a white plastic spoon. A robotic gripper is positioned above the stove, with a wooden knife block, dark green kettle, and white fridge visible in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the white plastic spoon on the blue cloth, grasps the spoon, lifts it, moves it over the white mug, lowers and releases the spoon into the mug, then retracts upward away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 403, "tasks": ["place spoon"], "length": 484, "global_instruction": "Reposition the silver spoon on the wooden desk to a new position near the printer.", "scene_description": "A wooden desk holds a black keyboard in the foreground, a silver metal spoon, a tan cowboy hat, a roll of blue tape, a green eraser, two white VR headsets, and a white printer on the far left. A white Franka Emika robotic arm is mounted on a green-illuminated platform to the right of the desk, and a second robotic arm is positioned above the far end of the room initially.", "global_instruction_dense": "The left robotic arm descends from its initial raised position to the silver spoon on the wooden desk, adjusts the spoon's position, grasps and lifts it, moves it left toward the printer, and releases it onto the desk at the new location.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 404, "tasks": ["place spoon"], "length": 334, "global_instruction": "Place the metal spoon from the gas stove into the white dish rack", "scene_description": "A white plastic dish rack sits on the kitchen counter left of a white gas stove, with a metal spoon resting on the stove's burners. White overhead cabinets, a white refrigerator, and a robotic arm are visible.", "global_instruction_dense": "The right robotic arm extends toward the metal spoon on the gas stove, grasps it, lifts and moves it left over the white dish rack, lowers it, releases it into the rack, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 405, "tasks": ["place spoon"], "length": 285, "global_instruction": "Pick the metal spoon from the dish rack and place it on the gas stove.", "scene_description": "A white plastic dish rack holding a silver metal spoon sits on a kitchen counter next to a white gas stove, with white upper cabinets above the counter, and a white robotic arm positioned above the stove area.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon in the white dish rack, grasps the spoon, lifts it out of the rack, moves it over the gas stove, lowers it, releases it onto the stove surface, then moves upward away from the stove.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 406, "tasks": ["place spoon"], "length": 597, "global_instruction": "Place spoons from the gas stove into the white dish rack on the kitchen counter.", "scene_description": "A white plastic dish rack sits on a kitchen counter in the left foreground, a white gas stove with a dark teal kettle and wooden knife block is positioned behind the rack, and a white robotic arm is located at the upper right of the scene.", "global_instruction_dense": "The right robotic gripper moves toward the gas stove, grasps a spoon, moves the spoon over the white dish rack and releases it into the rack, then repeats the process to place a second spoon into the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 407, "tasks": ["place spoon"], "length": 448, "global_instruction": "Place the metal spoons from the dish rack onto the gas stove.", "scene_description": "A white dish rack holding two metal spoons sits on a kitchen counter adjacent to a white gas stove; a white robotic arm is positioned above the stove, with a teal kettle and wooden knife block resting on the stove, white upper cabinets above the counter, and a large clear water bottle to the left of the dish rack.", "global_instruction_dense": "The right robotic arm moves toward the dish rack, grasps a metal spoon, lifts and moves it over the gas stove before releasing it onto the stove, then returns to the dish rack, grasps a metal spoon, lifts and moves it over the stove before releasing it onto the stove surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 408, "tasks": ["place spoon"], "length": 701, "global_instruction": "Take a metal spoon from the white utensil container in the dish rack and place it on the kitchen counter.", "scene_description": "A white plastic dish drying rack sits on a tiled kitchen counter, with a small white container holding silver metal utensils inside the rack. A white four-burner gas stove with a dark teal kettle on its back right burner is behind the counter, white upper cabinets are above the counter, a white refrigerator is to the far right, and a robotic arm is positioned above the stove near the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the white utensil container in the dish rack, grasps a metal spoon from inside the container, pulls the spoon out, moves it over the kitchen counter next to the stove, releases the spoon onto the counter, and moves back to its initial position above the stove.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 409, "tasks": ["place spoon"], "length": 485, "global_instruction": "Pick up a silver spoon from the utensil holder and place it into the dish rack", "scene_description": "A white dish rack sits on a kitchen counter, with a silver pot lid inside the rack, a utensil holder containing a blue spatula and silver utensils to the left of the rack, a stove with a brown pan behind the rack, and a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the utensil holder on the kitchen counter, grasps a silver spoon from the holder, lifts and moves the spoon over the white dish rack, lowers and releases the spoon into the rack, then moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 410, "tasks": ["place spoon"], "length": 190, "global_instruction": "Pick a black spoon from the dish rack and place it on the left edge of the dish rack.", "scene_description": "A white dish rack holding black and silver utensils sits on a kitchen counter, with a white gas stove, brown pot, dark teal kettle, orange knife block and white refrigerator in the background, no robotic arm is in the work area initially.", "global_instruction_dense": "The right robotic arm enters from the upper right, lowers to the dish rack, grasps a black spoon, lifts and moves it left to the left edge of the dish rack, releases the spoon, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 411, "tasks": ["place spoon"], "length": 448, "global_instruction": "Place the metal spoon from the stove counter into the utensil holder in the dish rack.", "scene_description": "A kitchen counter with a white gas stove at the rear, a dish rack near the sink in the foreground holding a silver pot lid, glassware and a utensil holder; an orange knife block sits next to the stove, and a robotic arm is positioned above the stove area.", "global_instruction_dense": "The right robotic arm moves to the gas stove counter, grasps a metal spoon, lifts and transports it left to the dish rack, lowers it into the utensil holder, releases the spoon, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 412, "tasks": ["place spoon"], "length": 620, "global_instruction": "Place the silver spoons on the table into the black mug.", "scene_description": "A wooden table partially covered with a tan cloth holds items including a black keyboard, black mouse, pink-and-white striped cloth, white over-ear headphones, small red bowl, black mug, two silver spoons, green packaged object, and small white bottle. A white robotic arm is positioned to the right of the table, with a small white toaster oven and white cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward a silver spoon on the tan cloth, grasps it, lifts and moves it over the black mug before releasing it into the mug, then moves toward another silver spoon, grasps it, lifts and moves it over the black mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 413, "tasks": ["place spoon"], "length": 543, "global_instruction": "Place the metal spoon from the towel onto the blue circular tape.", "scene_description": "A wooden table holds various items: the left side has a white toaster oven, black mouse, red plastic bowl, yellow tennis ball, white cloth, small transparent bottle, two dark round containers, and a black cup. The right table portion is covered with a light brown towel, which holds a white paper dish with a green triangular object, white cylindrical pipe fitting, blue circular tape roll, two metal spoons, black charging cable, and white over-ear headphones. A white robotic arm is positioned at the upper right above the towel.", "global_instruction_dense": "The right robotic arm moves down toward the metal spoon on the light brown towel, grasps the spoon with its gripper, lifts and adjusts the spoon's orientation, moves it over the blue circular tape on the towel, and releases the spoon to place it onto the blue tape.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 414, "tasks": ["place spoon"], "length": 644, "global_instruction": "Pick up the metal spoon from the tan cloth and place it into the dark mug on the table.", "scene_description": "A wooden table partially covered with a tan cloth holds a dark mug, small dark pan, metal spoon, small hardware pieces, blue tape roll, and miscellaneous items. A white microwave sits at the far end of the table, with white cabinets in the background, and a robotic arm is positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves from the right edge of the frame over the wooden table, positions its gripper above the metal spoon on the tan cloth, grasps the spoon, lifts and adjusts its orientation, moves the spoon to the dark mug, and releases the spoon into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 415, "tasks": ["place spoon"], "length": 270, "global_instruction": "Place the light brown wooden spoon into the black cooking pot on the table.", "scene_description": "A table covered in a blue tablecloth printed with yellow lemons and green leaves holds a black cooking pot, light brown wooden spoon, white plate with a metal knife, black keyboard, purple box, and small miscellaneous items. A robotic arm is positioned to the right of the table, with its gripper raised above the table surface.", "global_instruction_dense": "The right robotic gripper lowers toward the wooden spoon on the table, grasps it, lifts it, moves it over the black cooking pot, releases the spoon into the pot, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 416, "tasks": ["place spoon"], "length": 341, "global_instruction": "Place the small metal spoon from the table into the white flower-printed mug.", "scene_description": "A table with a lemon-patterned tablecloth holds a black keyboard, a green round fruit, a white mug with orange flower print, an empty white plate, a small pink cup, a black laptop, a metal ruler, and a white napkin. Wooden chairs are behind the table, floral curtains cover the background windows, and a robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the table, grasps the metal spoon between the green fruit and the mug, lifts the spoon, moves it over the white flower-printed mug, lowers and releases the spoon into the mug, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 417, "tasks": ["place spoon"], "length": 280, "global_instruction": "Place the black spoon into the center cylindrical cup of the white perforated plastic basket.", "scene_description": "A white table holds a white perforated plastic basket, a green-lidded white container, a blue cloth, and a white bottle with an orange cap. Two wooden lattice-back chairs are positioned against a wall with floral short curtains, and a robotic arm is partially visible at the top right of the view.", "global_instruction_dense": "The right robotic arm moves down from the top right of the frame toward the table, grasps the black spoon lying on the table, lifts the spoon, moves it over the center cylindrical cup of the white perforated basket, lowers the spoon into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 418, "tasks": ["place spoon"], "length": 236, "global_instruction": "Remove the spoon from the black mug and place it on the wooden desk", "scene_description": "A light brown wooden desk holds a black keyboard, black mug with a white-tipped spoon, yellow tape roll, small orange toy car, pink-and-white checkered cloth, and white hanger. A wooden chair with a yellow cushion is in front of the desk, and a robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black mug on the desk, grasps the spoon inside the mug, lifts the spoon out of the mug, moves the spoon to the desk area near the yellow tape, lowers the spoon, releases it onto the desk, then retracts away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 419, "tasks": ["place spoon"], "length": 294, "global_instruction": "Pick up the metal spoon on the wooden desktop and place it in a new position on the desktop.", "scene_description": "A light brown wooden desk holds a white plastic clothes hanger, roll of orange duct tape, black thin wire, small orange toy car, metal spoon, and pink-and-white striped cloth. A black keyboard rests on the desk's upper edge, and a bed with blue-and-white striped bedding is in the right background.", "global_instruction_dense": "The right robotic gripper enters from the right of the frame, moves toward the metal spoon on the wooden desktop, grasps the spoon, lifts and adjusts its position, then releases it in a new spot on the desktop before moving away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 420, "tasks": ["place spoon"], "length": 284, "global_instruction": "Place a metal spoon into the translucent green plastic cup on the washing machine.", "scene_description": "A translucent green plastic cup with a yellow-red two-tone spoon inside, a small blue bowl with grains, an orange Tide detergent box, and a silver bowl with orange inner wall are placed on a white washing machine top, with windows showing outdoor trees in the background.", "global_instruction_dense": "The right robotic arm moves left toward the green cup area, lifts upward to grasp a metal spoon, moves back to lower the spoon into the green cup, then releases the spoon and lifts away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 421, "tasks": ["place spoon"], "length": 316, "global_instruction": "Place the three spoons on the washing machine top into the two cups on the washing machine.", "scene_description": "An orange Tide detergent box sits on the right of a white washing machine top. On the left of the surface are two cups (one turquoise, one blue with an orange rim), and three spoons (silver metal, red plastic, yellow plastic), with white-framed yard-facing windows in the background.", "global_instruction_dense": "The right robotic gripper enters from the upper right of the frame, lowers to grasp the metal, red plastic, and yellow plastic spoons on the washing machine top, lifts the spoons, moves them over the two cups, then releases the spoons into the cups.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 422, "tasks": ["place spoon"], "length": 724, "global_instruction": "Place the metal spoon onto the washing machine surface next to the blue plastic scoop.", "scene_description": "An orange Tide detergent box, a blue plastic scoop, and a yellow strip rest on top of a white Amana washing machine, with another orange container positioned near large windows overlooking a fenced backyard with trees.", "global_instruction_dense": "The right robotic arm enters the frame holding a metal spoon, moves it toward the blue plastic scoop on the washing machine, adjusts its position multiple times above the scoop, places the spoon on the washing machine surface next to the scoop, then moves slightly away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 423, "tasks": ["place spoon"], "length": 150, "global_instruction": "Remove the pink spoon from the green cup and place it on the washing machine surface.", "scene_description": "An orange bowl and a transparent green cup holding a pink spoon are placed on a white washing machine, with windows overlooking a fenced yard in the background, and a robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the green cup on the washing machine, grasps the pink spoon inside the cup, lifts the spoon out of the cup, moves it leftward, then lowers and releases it onto the washing machine surface next to the orange bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 424, "tasks": ["place spoon"], "length": 626, "global_instruction": "Scoop contents from the orange bowl using the red spoon then place the spoon into the green cup.", "scene_description": "An orange bowl, a red plastic spoon, and a translucent green plastic cup are positioned on the flat top of a white washing machine, with multi-pane windows behind looking out to a backyard with trees and a wooden fence.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves toward the red spoon resting on the washing machine, grasps and lifts the spoon, moves it to the orange bowl to scoop the bowl's contents, then moves the spoon to the green plastic cup, lowers the spoon into the cup, releases it, and retracts away from the work area.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 425, "tasks": ["place spoon"], "length": 161, "global_instruction": "Take the red spoon out of the green cup and place it on the washing machine surface next to the orange bowl.", "scene_description": "An orange plastic bowl and a green transparent cup holding a red spoon are placed on the white top of a washing machine, with windows showing outdoor trees and a fence in the background.", "global_instruction_dense": "The right robotic arm moves toward the green cup, grasps the red spoon inside the cup, lifts the spoon out of the cup, moves the spoon to the area next to the orange bowl, releases the spoon onto the washing machine surface, and then retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 426, "tasks": ["place spoon"], "length": 283, "global_instruction": "Pick up the silver metal spoon from the counter and place it into the tall light green cup.", "scene_description": "A white countertop next to a washing machine in a room with backyard-facing windows has an orange Tide detergent box (topped with a blue plastic bowl) on its left, plus a fabric softener package below the box. On the counter surface lie a silver metal spoon, a yellow plastic knife, a clear plastic bag, a small silver bowl, a tall light green cup, a short dark green cup, and an orange bowl with a red handle, with a robotic arm positioned above the washing machine knobs.", "global_instruction_dense": "The right robotic arm moves downward from above the washing machine knobs toward the silver metal spoon on the counter, grasps the spoon, lifts it, moves it rightward to above the tall light green cup, releases the spoon into the cup, then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 427, "tasks": ["place spoon"], "length": 221, "global_instruction": "Take a metal spoon from the small silver bowl and place it on the white countertop.", "scene_description": "A white countertop in a laundry room next to large windows overlooking a backyard. On the left side of the counter, an orange Tide laundry detergent box with a light blue plastic bowl on top sits next to a fabric softener packet. On the right side of the counter, there is a clear plastic bag, a small silver metal bowl, a yellow plastic spoon, a tall light blue plastic cup, a short green plastic cup, and an orange plastic bowl with a red handle. A right robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm first moves toward and adjusts the position of the tall light blue plastic cup, then moves to the small silver bowl, grasps the metal spoon inside, lifts it, and places it on the white countertop next to the yellow plastic spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 428, "tasks": ["place spoon"], "length": 413, "global_instruction": "Place a metal spoon from the table into the dish rack", "scene_description": "A light wooden table holds a large wooden bowl on its left side, a clear hand sanitizer bottle with a white pump, an aluminum foil tray, a dish rack, and four metal utensils (one knife, two spoons, one fork) on its right section, with a robotic arm positioned at the table's upper right.", "global_instruction_dense": "The right robotic arm moves down to the table, grasps a metal spoon, lifts it, moves it toward the dish rack, places the spoon inside the dish rack, then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 429, "tasks": ["place spoon"], "length": 252, "global_instruction": "Pick up the metal spoon on the table and place it into the cutlery drying rack", "scene_description": "A light wooden table has a clear pump hand sanitizer bottle, a metal spoon, a metal knife, and a metal fork on its surface; a large light brown wooden bowl and aluminum foil tray sit on a higher dark wood ledge to the left of the table, a silver cutlery drying rack is at the back of the table, and a white robotic arm is at the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the table, grasps it, lifts it, moves it to the cutlery drying rack at the back of the table, lowers and releases the spoon into the rack, then moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 430, "tasks": ["place spoon"], "length": 238, "global_instruction": "Take a metal spoon from the silver dish rack and place it on the wooden tabletop.", "scene_description": "A light wooden table holds a clear pump soap bottle, a metal butter knife, and a silver utensil dish rack at its back edge. A large round light brown wooden bowl sits on a raised dark wooden ledge to the left of the table, and a white robotic arm is positioned at the right side of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the silver utensil dish rack, grasps a metal spoon, lifts it out of the rack, moves it down to the tabletop near the existing metal knife, releases the spoon onto the table, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 431, "tasks": ["place spoon"], "length": 269, "global_instruction": "Take a metal spoon from the cutlery rack and place it on the tabletop next to the existing utensils.", "scene_description": "A light wooden tabletop has a large light brown wooden bowl and a round aluminum foil tray on a raised dark brown ledge to the left, a clear pump soap bottle, a knife and a spoon on the main table surface, and a silver cutlery rack behind the utensils, with a robotic arm on the right side.", "global_instruction_dense": "The right robotic gripper moves toward the silver cutlery rack, grasps a metal spoon from the rack, lifts the spoon, moves it down to the table surface next to the existing knife and spoon, releases the spoon, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 432, "tasks": ["place spoon"], "length": 241, "global_instruction": "Place a spoon from the dish rack onto the counter next to the existing spoons.", "scene_description": "A large light brown wooden bowl, an aluminum foil tray, and folded cloths are on a raised dark brown shelf above a light wood kitchen counter. On the counter: a clear pump hand sanitizer bottle, three metal spoons, and a silver dish rack. A white robotic arm is positioned at the right edge of the counter, with a person in the background near a desk and whiteboard.", "global_instruction_dense": "The right robotic arm moves toward the silver dish rack on the kitchen counter, grasps a metal spoon, lifts it out of the rack, moves it down to the area on the counter with the other metal spoons, releases the spoon onto the counter, then lifts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 433, "tasks": ["place spoon"], "length": 522, "global_instruction": "Pick up a metal spoon from the table and place it into the utensil tray.", "scene_description": "A light wooden tabletop has a large light brown wooden bowl and aluminum foil tray on a raised left section, a clear hand sanitizer bottle with white pump, metal silverware (one knife, multiple forks and spoons), and a silver-gray utensil tray in the center, with a robotic arm positioned to the right above the table.", "global_instruction_dense": "The right robotic gripper moves toward the metal spoons on the table, grasps a spoon, lifts and moves it over the silver-gray utensil tray, lowers the spoon into the tray, releases it, then moves back to a raised position above the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 434, "tasks": ["place spoon"], "length": 559, "global_instruction": "Place a metal spoon from the table into the dish drying rack.", "scene_description": "A light-colored wooden table holds a clear pump hand sanitizer bottle, a metal butter knife, and two metal spoons. A large light brown wooden bowl sits on a darker raised wooden ledge to the left of the table, and a silver dish drying rack is positioned at the back of the table.", "global_instruction_dense": "The right robotic gripper moves from off-frame right toward the metal spoons on the light wooden table, adjusts its position to grasp one spoon, lifts the spoon, moves it to the silver dish drying rack at the back of the table, and places the spoon into the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 435, "tasks": ["place spoon"], "length": 252, "global_instruction": "Place a metal spoon from the cutlery organizer onto the wooden counter", "scene_description": "A light wooden counter holds a clear pump soap bottle with white liquid, a single metal fork, and a silver cutlery organizer with utensils inside. A large light brown wooden bowl and aluminum foil trays rest on a dark brown raised ledge on the left side of the counter. A white and black robotic arm is positioned at the top right of the frame, with a TV, whiteboard, and doorway visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the silver cutlery organizer, grasps a metal spoon from inside the organizer, lifts the spoon, moves it over the wooden counter, lowers it next to the existing metal fork on the counter, releases the spoon, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 436, "tasks": ["place spoon"], "length": 271, "global_instruction": "Take a metal spoon from the utensil rack and place it on the wooden tabletop next to the other spoons.", "scene_description": "A light wooden tabletop holds a large natural wood bowl, aluminum foil trays, a clear pump hand sanitizer bottle, two metal spoons, and a metal utensil rack with cutlery. A robotic arm is positioned at the right side of the table, with a TV, whiteboard, and door in the background.", "global_instruction_dense": "The right robotic arm moves toward the metal utensil rack, grasps a metal spoon from the rack, lifts the spoon, moves it down to the wooden table near the pre-existing spoons, releases the spoon onto the table, and lifts its gripper back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 437, "tasks": ["place spoon"], "length": 444, "global_instruction": "Place a metal spoon from the countertop into the metal dish rack.", "scene_description": "A light wooden countertop holds a clear pump soap bottle, scattered metal cutlery, and a metal dish rack. A large wooden bowl rests on a raised dark wooden ledge to the left, and a robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the scattered metal cutlery on the countertop, grasps a metal spoon, lifts it, moves it to the metal dish rack, and places the spoon into the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 438, "tasks": ["place spoon"], "length": 437, "global_instruction": "Place a metal spoon from the counter into the metal dish rack.", "scene_description": "A light wood kitchen counter holds a large wooden bowl on the left, a clear pump soap dispenser, an aluminum foil tray, and scattered metal utensils; a metal dish rack sits at the counter's rear, with a TV on a desk and whiteboard in the left background, and a black handbag hanging on the right wall.", "global_instruction_dense": "The right robotic arm lowers toward the scattered metal utensils on the counter, grasps a metal spoon, lifts it, moves it to the metal dish rack, releases the spoon into the rack, then moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 439, "tasks": ["place spoon"], "length": 221, "global_instruction": "Take a spoon from the dish rack and place it onto the countertop.", "scene_description": "A light wood countertop holds a clear pump soap bottle in the left foreground, a wooden bowl and aluminum foil trays on the left edge, and a metal dish rack with utensils at the far end. A white robotic arm is positioned above the dish rack, with a black bag hanging on the wall behind the rack, and a whiteboard and office area in the left background.", "global_instruction_dense": "The right robotic arm moves downward to the dish rack, grasps a spoon from the rack, lifts it, moves it forward over the empty section of the countertop, lowers the spoon, releases it onto the counter, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 440, "tasks": ["place spoon"], "length": 334, "global_instruction": "Place a silver spoon upright into the dark gray utensil caddy at the back of the dish rack.", "scene_description": "A light wooden kitchen counter holds a clear pump hand sanitizer bottle, a metal dish rack with a dark gray utensil caddy, a wooden bowl, and aluminum foil trays; a right robotic arm is positioned above the counter near the dish rack.", "global_instruction_dense": "The right robotic arm moves downward toward the dark gray utensil caddy on the dish rack, grasps a silver spoon, adjusts its orientation, sets the spoon upright into the caddy, then releases the spoon and moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 441, "tasks": ["place spoon"], "length": 387, "global_instruction": "Pick up the metal spoon from the dish rack's utensil compartment and place it back into the compartment.", "scene_description": "A light wooden counter holds a clear pump soap bottle, a metal dish rack with a gray utensil compartment containing a metal spoon. A wooden bowl, aluminum foil trays, and folded cloths sit on a darker counter to the left. A white robotic arm is positioned above the right side of the counter, with bags hanging on the background wall.", "global_instruction_dense": "The right robotic arm moves downward toward the metal spoon in the dish rack's gray utensil compartment, grasps the spoon, lifts it upward to adjust its orientation, lowers it back into the utensil compartment, and releases the spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 442, "tasks": ["place spoon"], "length": 363, "global_instruction": "Place the silver spoon from the rear of the counter into the dish rack's utensil compartment.", "scene_description": "A light wooden kitchen countertop holds a clear hand sanitizer bottle, aluminum foil tray, and wooden bowl on its left, a gray and metal dish rack in its center, and a silver spoon on its rear surface. A black bag hangs on the wall next to a white refrigerator to the right, with a robotic arm at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the silver spoon on the rear of the kitchen counter, grasps the spoon, lifts it, moves it left over the dish rack's left utensil compartment, lowers the spoon into the compartment, releases it, then retracts upward away from the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 443, "tasks": ["place spoon"], "length": 315, "global_instruction": "Place the metallic spoon from the counter into the dish rack's utensil compartment.", "scene_description": "A light wooden kitchen counter holds a clear hand sanitizer bottle on the far left, an aluminum foil tray, a wooden bowl, a metal dish rack at the center, and a metallic spoon on the counter behind the rack, with a robotic arm positioned at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the metallic spoon on the counter behind the dish rack, grasps the spoon, lifts it, moves it over the left side of the dish rack, lowers it into the utensil compartment, releases the spoon, then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 444, "tasks": ["place spoon"], "length": 323, "global_instruction": "Take a metal spoon from the dish rack and place it on the counter behind the rack.", "scene_description": "A light wooden kitchen countertop holds a clear hand sanitizer bottle, aluminum foil tray, and large wooden bowl on its left, with a stainless steel dish rack holding utensils in its left slot at the center; a white refrigerator and hanging black bag are in the background.", "global_instruction_dense": "The left robotic arm moves toward the dish rack's left utensil slot, grasps a metal spoon, lifts it out of the rack, moves it backward to the counter behind the rack, lowers and places the spoon on the counter, then releases the spoon and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 445, "tasks": ["place spoon"], "length": 315, "global_instruction": "Remove the metal spoon from the dish drying rack and place it on the counter behind the rack, then adjust the red-handled knife's position.", "scene_description": "A light-colored kitchen counter holds a metal dish drying rack in its center. To its left on a darker wooden counter section are a clear hand sanitizer bottle, an aluminum foil tray, a large wooden bowl, and folded cloths. A red-handled knife and silver knife rest on the counter behind the dish rack, and a robotic arm is positioned at the upper right, with a fridge and hanging bags in the background.", "global_instruction_dense": "The right robotic arm moves toward the dish drying rack, grasps a metal spoon from its left compartment, lifts the spoon, moves it to the counter behind the rack, releases the spoon onto the counter, then grasps the red-handled knife on that counter, adjusts its position, places it down, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 446, "tasks": ["place spoon"], "length": 258, "global_instruction": "Grasp a spoon from the dish rack and place it into the rear flatware section of the dish rack.", "scene_description": "A light wooden table holds a clear TopCare hand sanitizer bottle on its left edge, a metal dish rack at its center, a wooden bowl and aluminum foil tray behind the rack, with a robotic arm positioned to the right of the table; the background includes a TV on a white stand, whiteboard, closed door, and a black hanging bag on the wall.", "global_instruction_dense": "The right robotic arm moves downward toward the metal dish rack, grasps a metal spoon, lifts it, moves it over the rear flatware compartment of the dish rack, lowers it, and releases the spoon into the compartment.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 447, "tasks": ["place spoon"], "length": 210, "global_instruction": "Place the metal spoon into the metal dish rack on the kitchen counter", "scene_description": "A light wooden kitchen counter holds a metal dish rack with a clear pump bottle, red plastic spatula, and green container. A darker wooden side table to the left holds a large wooden bowl and aluminum foil tray. A white robotic arm is positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the metal spoon, grasps it, lifts it, moves it over the metal dish rack on the kitchen counter, and releases the spoon into the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 448, "tasks": ["place spoon"], "length": 240, "global_instruction": "Pick the metal spoon from the dish rack and place it on the dark wooden counter next to the wooden bowl.", "scene_description": "A metal dish rack holding utensils including a metal spoon, purple cup, and blue scoop rests on a light wooden table. A clear pump soap bottle is at the table's left side, stacked green cups are to the dish rack's right, a wooden bowl and aluminum foil tray sit on a darker wooden counter to the left of the table, and a robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the metal dish rack on the light wooden table, grasps the metal spoon inside the rack, lifts it, moves it leftward over the adjacent dark wooden counter, and places it next to the wooden bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 449, "tasks": ["place spoon"], "length": 364, "global_instruction": "Pick metal spoons from the rear of the dish rack and place them into the rack's utensil compartment.", "scene_description": "A metal dish rack with assorted utensils is on a light wooden table. The table also holds a clear pump soap bottle, two stacked green cups, and a small red square. The background includes a wooden bowl, aluminum foil tray, TV, white door, and a wall with a hanging black bag and grey cloth.", "global_instruction_dense": "The left robotic arm enters the frame, moves to the rear of the dish rack, grasps multiple metal spoons, lifts and adjusts its grip on the spoons, moves them over the rack's utensil storage area, and releases the spoons into the compartment.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 450, "tasks": ["place spoon"], "length": 303, "global_instruction": "Place the spoons behind the metal dish rack into the dish rack", "scene_description": "A light wooden kitchen table holds a clear pump bottle, a light blue measuring scoop, a black stand, and a silver dish rack with utensils. A wooden bowl rests on a higher brown shelf to the left of the table alongside a large aluminum baking tray. The right robotic arm is positioned in the upper right above the table, and spoons sit on a flat surface behind the dish rack.", "global_instruction_dense": "The right robotic arm lowers toward the spoons on the surface behind the metal dish rack, sequentially grasps two silver spoons, moves each over the dish rack, and releases them into or near the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 451, "tasks": ["place spoon"], "length": 187, "global_instruction": "Place the purple spoon into the pink cup on the light wooden table.", "scene_description": "A light wooden tabletop holds a clear pump bottle, light blue measuring scoop, and stainless steel dish rack. A higher wooden counter behind has an aluminum foil tray, blue ladle, and wooden bowl. A pink cup sits at the far end of the table, and a right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm lowers toward the dish rack area, grasps the purple spoon, moves it over the pink cup at the far end of the table, releases the spoon into the cup, then lifts upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 452, "tasks": ["place spoon"], "length": 502, "global_instruction": "Take the metal spoon from the white colander and place it on the wooden table", "scene_description": "A light brown wooden table holds a white plastic colander with a metal spoon inside at its center, two black remote controls on the table's left side, a yellow cloth to the right of the colander, and a decorative metal cube near a window with white blinds. A right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the white colander on the wooden table, grasps the metal spoon inside the colander, lifts the spoon out of the colander, moves it to an empty spot on the left side of the table, lowers the spoon, releases it onto the table surface, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 453, "tasks": ["place spoon"], "length": 365, "global_instruction": "Pick a silver spoon from the dish rack and place it into the sink.", "scene_description": "A white sink containing a blue brush sits below a window with white horizontal blinds. On the counter to the right of the sink are a gray dish rack with utensils, a white soap dispenser, and a brown soap dispenser. A robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves to the gray dish rack, grasps a silver spoon, lifts it, moves it over the white sink, lowers it, releases the spoon into the sink next to the blue brush, then lifts away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 454, "tasks": ["place spoon"], "length": 491, "global_instruction": "Pick up the silver spoon from the sink and place it into the dish rack on the sink ledge.", "scene_description": "A white sink below a window with horizontal blinds contains a silver metal spoon and a blue plastic utensil. A silver wall-mounted faucet is above the sink, with soap bottles and a dish rack on the right sink ledge, and a robotic arm is positioned above the right side of the sink.", "global_instruction_dense": "The right robotic arm moves downward into the sink, grasps the silver spoon with its gripper, lifts the spoon out of the sink, moves it rightward to the dish rack on the sink ledge, and releases the spoon into the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 455, "tasks": ["place spoon"], "length": 532, "global_instruction": "Place the purple spoon from the sink into the dish rack on the sink ledge.", "scene_description": "A white kitchen sink holds a purple spoon and a blue spoon. A wall-mounted faucet and a dish rack with cleaning supplies are on the sink ledge, a right robotic arm is positioned above the right edge of the sink, and a window with blinds is above the sink.", "global_instruction_dense": "The right robotic arm moves down toward the purple spoon in the sink, grasps and lifts it before accidentally dropping it back into the sink, then re-grasps the purple spoon, lifts it, moves it to the dish rack on the sink ledge, and releases it into the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 456, "tasks": ["place spoon"], "length": 208, "global_instruction": "Place the silver spoon on the table into the white mug", "scene_description": "A wooden table holds a yellow bag of wooden tiles, red/yellow/black round chips, a stapler, tape, a decorative frame, white napkins, a silver fork, a silver spoon, a white mug, and a small blue bowl. White blinds, a door, and a yellow-black safety barrier are in the background.", "global_instruction_dense": "The right robotic arm moves down to the table, grasps the silver spoon, lifts it, moves it over the white mug, lowers it into the mug, releases the spoon, then moves upward away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 457, "tasks": ["place spoon"], "length": 153, "global_instruction": "Remove the spoon from the white mug and place it on the wooden table.", "scene_description": "A light brown wooden table holds a floral framed decor, red, yellow and black round tokens, a stapler, tape, white napkins, a metal fork, a white mug with a spoon inside, a small blue bowl, and a yellow bag of small wooden pieces, with white blinds, a white door and a yellow-black safety barrier in the background.", "global_instruction_dense": "The right robotic arm moves down toward the white mug, grasps the spoon inside the mug, lifts the spoon out of the mug, moves it over the table surface, lowers and releases the spoon onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 458, "tasks": ["place spoon"], "length": 372, "global_instruction": "Place the metal spoon on the table into the white ceramic mug.", "scene_description": "A light wooden table holds a white mug, metal spoon, metal knife, yellow bag of small wooden pieces, red/yellow/black circular tokens, stapler, white cloth, small light blue bowl, and a white decorative framed item, with window blinds to the left and a white door in the background.", "global_instruction_dense": "The right robotic arm moves down toward the metal spoon on the wooden table, grasps and lifts the spoon, moves it over to the white mug, lowers the spoon into the mug, releases it, then moves away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 459, "tasks": ["place spoon"], "length": 599, "global_instruction": "Turn on the sink faucet, then pick up the metal spoon from the sink and place it into the countertop dish rack.", "scene_description": "A white kitchen sink holds a purple cup, a metal spoon, and a small blue tool. Wall-mounted silver faucets are above the sink, with soap dispensers and a dish rack on the adjacent counter, under a window with white blinds.", "global_instruction_dense": "The right robotic arm moves to the sink's wall-mounted faucet, turns on the faucet to run water, turns off the faucet, moves down into the sink to grasp the metal spoon, lifts the spoon, moves it to the countertop dish rack, and places the spoon into the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 460, "tasks": ["place spoon"], "length": 191, "global_instruction": "Remove the spoon from the cup, push over the blue connect four stand, and place the spoon on the table.", "scene_description": "A white table against a white wall holds a blue vertical connect four stand, two black discs in front of the stand, a white cup with a metal spoon inside, and small letter tiles on the table's lower left. A Franka robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves down toward the white cup, grasps the metal spoon inside, lifts the spoon out of the cup, moves toward the blue connect four stand while holding the spoon, pushes the stand to tip it over, then releases the spoon onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 461, "tasks": ["place spoon"], "length": 230, "global_instruction": "Place the silver spoon on the table into the white cup", "scene_description": "A white table holds a blue vertical grid game, a white cup, a silver spoon, two black round tokens, and small letter tiles, with a robotic arm located to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the table, grasps it, lifts it, moves it over the white cup, and releases the spoon into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 462, "tasks": ["place spoon"], "length": 276, "global_instruction": "Take the metal spoon from the white cup and place it on the white table.", "scene_description": "A white table holds a blue grid game stand, a white cup, a small black circular object, letter tiles, a remote control, and a white paper stand. A robotic arm is positioned to the right of the table, with a wooden floor, wall whiteboard, and kitchen area in the background.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the table, grasps the metal spoon inside the cup, lifts the spoon out of the cup, moves it over the table surface, lowers the spoon, and releases it onto the table before retracting.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 463, "tasks": ["place spoon"], "length": 228, "global_instruction": "Pick up the metal spoon and place it into the white ceramic mug", "scene_description": "A white table holds a purple vertical connect-four board, white cylindrical speaker, metal spoon, black remote control, white ceramic mug, clear plastic water bottle, and letter tiles. A Franka robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the table, grasps it with its gripper, lifts it, moves it above the white ceramic mug, lowers the spoon into the mug, and releases it, leaving the spoon inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 464, "tasks": ["place spoon"], "length": 198, "global_instruction": "Pick up the wooden spoon under the blue cloth on the stovetop and place it on the edge of the metal pot.", "scene_description": "A light yellow paneled kitchen wall with three tiers of spice racks holding assorted spice jars is above a white stovetop. A blue cloth is on the left of the stovetop, a metal pot with purple interior sits on the right burner, a window with white blinds is to the right of the spice racks, and a robotic arm is positioned at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the blue cloth on the stovetop, grasps the wooden spoon underneath the cloth, lifts the spoon, moves it over the metal pot with purple interior on the stovetop, lowers the spoon to place it on the edge of the pot, then releases the spoon and retracts.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 465, "tasks": ["place spoon"], "length": 296, "global_instruction": "Place a spoon into the white patterned paper cup on the wooden table.", "scene_description": "A dark wooden table holds a white patterned paper cup, a white book, a brown paper envelope, and a small dark rectangular object near the back edge, with light yellow paneled walls in the background.", "global_instruction_dense": "The right robotic arm moves into the frame, grasps a spoon, moves it over the white patterned paper cup, lowers the spoon into the cup, releases it, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 466, "tasks": ["place spoon"], "length": 310, "global_instruction": "Take a metal spoon from the open drawer and place it on the wooden worktable surface.", "scene_description": "A light wooden worktable holds metal pliers, an orange-handled tool, a white-handled tool, scissors, a white mug, a clear container, and a green-lidded white trash bin on its surface. An open drawer below the table is filled with assorted tools and utensils, a left robotic arm is positioned above the drawer, and a right robotic arm sits on a metal platform to the drawer's right.", "global_instruction_dense": "The left robotic arm lowers into the open worktable drawer, grasps a metal spoon, lifts it out of the drawer, moves it over the wooden worktable, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 467, "tasks": ["place spoon"], "length": 245, "global_instruction": "Retrieve a slotted cooking spoon from the open drawer and place it on the wooden worktable.", "scene_description": "A wooden worktable holding metal utensils, a white mug, a clear plastic bottle, and a green-and-white lidded container sits above an open drawer filled with assorted kitchen utensils, with a robotic arm base on a platform to the drawer's right.", "global_instruction_dense": "The left robotic arm moves above the open utensil drawer, lowers to grasp a black slotted cooking spoon with a metal handle, lifts the spoon out of the drawer, moves it over the adjacent wooden worktable, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 468, "tasks": ["place spoon"], "length": 343, "global_instruction": "Pick up the metal spoon from the wooden table and place it into the open drawer.", "scene_description": "A wooden table on the left holds various items including a black slotted serving spoon, metal tongs, a metal fork, a white-handled utensil, scissors, a white mug, a green-lidded trash bin, a clear plastic bottle, and a green packaged container. Adjacent to the table is an open drawer filled with assorted cutlery and a yellow-and-black screwdriver, and a robotic gripper is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic gripper moves from the upper right of the scene toward the metal spoon on the wooden table, grasps the spoon, lifts it, moves it over the open drawer, lowers it, releases the spoon into the drawer, then lifts away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 469, "tasks": ["place spoon"], "length": 361, "global_instruction": "Take yellow-handled spoons from the open drawer and place them on the adjacent wooden table.", "scene_description": "A wooden kitchen table holds various cooking utensils including a black slotted spatula, metal tongs, a black ladle, a white mug, a green-lidded waste bin, and small scissors; an open drawer filled with cutlery sits adjacent to the table, and a white robotic arm base is mounted on a table to the right of the drawer.", "global_instruction_dense": "The right robotic arm moves to the open cutlery drawer, grasps a yellow-handled spoon, lifts and places it on the wooden table, returns to the drawer to grasp a yellow-handled spoon, lifts it, and places it on the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 470, "tasks": ["place spoon"], "length": 371, "global_instruction": "Place a black cooking spoon from the open drawer onto the wooden table.", "scene_description": "A light wooden table on the left holds various kitchen utensils including a black slotted cooking spoon, a small yellow-handled silver spoon, metal tongs, and a black soup spoon. An open drawer filled with more kitchen utensils sits below the table. A white Franka robotic arm is positioned on the right side of the scene next to a metallic sliding platform.", "global_instruction_dense": "The right robotic arm moves leftward toward the open utensil drawer, grasps a black cooking spoon with a metallic handle inside the drawer, lifts the spoon out of the drawer, moves it over the wooden table, lowers the spoon onto the table surface, and releases it among other existing utensils.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 471, "tasks": ["place spoon"], "length": 224, "global_instruction": "Place the black silicone cooking spoon from the table into the open utensil drawer.", "scene_description": "A wooden table holds various utensils: a yellow-handled metal spoon, metal pliers, a black silicone cooking spoon, a white bottle opener, scissors, a clear plastic cup, a white mug, and a green container. A white trash bin with green straps sits on the left edge of the table. An open drawer below the table is filled with cutlery and kitchen utensils. A stationary robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The left robotic arm moves toward the black silicone cooking spoon on the wooden table, grasps it, lifts it, moves it over the open utensil drawer, lowers it into the drawer, releases it, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 472, "tasks": ["place spoon"], "length": 259, "global_instruction": "Place a metal spoon from the open cutlery drawer onto the wooden kitchen counter.", "scene_description": "A wooden kitchen counter holds black silicone cooking utensils with silver handles, a yellow-handled metal spoon, a blue checkered cloth, a white bucket with a green lid, a small white mug, and assorted small tools; an open cutlery drawer with forks, spoons, and scissors sits under the counter, and a right robotic arm is positioned above the drawer.", "global_instruction_dense": "The right robotic arm moves down into the open cutlery drawer under the kitchen counter, grasps a shiny metal spoon, lifts it out of the drawer, moves it leftward over the wooden counter, and releases it onto the counter among other utensils.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 473, "tasks": ["place spoon"], "length": 166, "global_instruction": "Take a metal spoon from the open drawer and place it on the wooden kitchen counter.", "scene_description": "A wooden kitchen counter holds various utensils including black silicone spoons, a yellow-handled metal spoon, and a blue checkered cloth, plus tools like screwdrivers and scissors, a green-lidded white bucket, and a white mug. A higher rear shelf holds stacked metal and white containers, an open drawer below the counter contains more utensils, and the right robotic arm is positioned at the right edge of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the open drawer below the counter, grasps a metal spoon inside the drawer, lifts the spoon out of the drawer, moves it over the wooden counter surface, and releases it onto the counter among other utensils.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 474, "tasks": ["place spoon"], "length": 158, "global_instruction": "Place the yellow-handled spoon from the kitchen counter into the open utensil drawer below the counter.", "scene_description": "A wooden kitchen counter holds assorted utensils including a yellow-handled metal spoon, black silicone spoons, metal forks, and small tools, a blue checkered cloth sits on the left of the counter, a green-lidded white bucket is at the counter's back, a robotic arm is positioned at the top right, and an open utensil drawer is under the counter.", "global_instruction_dense": "The right robotic arm moves toward the yellow-handled metal spoon on the wooden counter, grasps it with its gripper, lifts the spoon, moves it down over the open utensil drawer under the counter, lowers it into the drawer, and releases the spoon to finish placement.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 475, "tasks": ["place spoon"], "length": 335, "global_instruction": "Pick up the silver spoon on the table and place it into the open tool drawer below the table.", "scene_description": "A light wooden table holds a blue checkered cloth, assorted utensils, a white cup, two white buckets with green lids, and a silver spoon. An open tool drawer sits below the table, with a robotic arm positioned at the right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the table, grasps it, lifts and moves it over the open tool drawer, releases the spoon into the drawer, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 476, "tasks": ["place spoon"], "length": 161, "global_instruction": "Place the silver spoon from the kitchen counter into the open lower drawer.", "scene_description": "A light wooden kitchen counter holds silver cutlery, black silicone utensils, and a blue checkered cloth. A white bucket with a green lid sits at the counter rear, an open tool/utensil drawer is below the counter, and a right robotic arm is positioned above the counter at the right.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the kitchen counter, grasps the spoon with its gripper, lifts it, moves it over the open lower drawer, and releases the spoon into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 477, "tasks": ["place spoon"], "length": 206, "global_instruction": "Move the metal spoon from the silver bowl onto the gas stove surface.", "scene_description": "In a kitchen, a white gas stove has a wooden spoon on its left burner, a silver bowl with a pink interior on its right burner, and a multi-tiered metal spice rack mounted on the pale yellow wall above the stove; a right robotic arm is positioned above the bowl, and a door with closed blinds is to the right of the stove.", "global_instruction_dense": "The right robotic arm lowers toward the silver bowl, grasps the metal spoon inside the bowl, lifts the spoon, moves it left to the gap between the stove's two burners, lowers it onto the stove surface, releases the spoon, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 478, "tasks": ["place spoon"], "length": 274, "global_instruction": "Take a metal spoon from the open utensil drawer and place it on the wooden worktable.", "scene_description": "A light wooden worktable holds a green-and-white striped cloth, knives, white mugs, a clear spray bottle, and a small black cloth. An open drawer below the table is filled with assorted metal utensils. A white robotic arm with orange bands is positioned to the right of the table, with a kitchen area containing large pots on a counter and a brown door with a semi-circular window in the background.", "global_instruction_dense": "The right robotic gripper lowers toward the open utensil drawer under the worktable, grasps a metal spoon, lifts it out of the drawer, moves it over the worktable surface, places the spoon on the table, releases it, and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 479, "tasks": ["place spoon"], "length": 401, "global_instruction": "Place a metal spoon from the table into the white mug at the back of the table", "scene_description": "A wooden table holds a clear pump bottle, dark cloth, light blue small scoop, multiple metal utensils, a stainless steel pot stacked on a white strainer in a metal tray, two clear glasses, and a white mug. A white robotic arm is positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the metal utensils on the table, grasps a metal spoon with its gripper, lifts the spoon, moves it backward over the white mug, lowers it, releases the spoon into the mug, then lifts away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 480, "tasks": ["place spoon"], "length": 212, "global_instruction": "Pick up the blue long-handled spoon and place it on the left side of the wooden table.", "scene_description": "A wooden table holds a clear pump bottle on the left, a small light blue cup, metal spoon, two clear plastic bottles at the back, a metal pot in a white colander on a metal tray at the rear, a blue long-handled spoon on the right table surface, and a robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the blue long-handled spoon on the right side of the table, grasps it with its gripper, lifts and moves it leftward across the table, then releases it onto the left side of the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 481, "tasks": ["place spoon"], "length": 262, "global_instruction": "Take the metal spoon from the white colander and place it into the rear stainless steel bowl.", "scene_description": "A wooden tabletop holds a clear plastic water bottle, a stainless steel bowl with green-and-white striped cloths, a white slotted plastic colander containing a metal spoon, and an empty stainless steel bowl behind the colander; a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the white colander on the wooden table, grasps the metal spoon inside the colander, lifts it, moves it over the rear stainless steel bowl, and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 482, "tasks": ["place spoon"], "length": 170, "global_instruction": "Pick up the spoon from the stainless steel bowl and place it into the white mug on the rear counter.", "scene_description": "A light wooden table holds a silver stainless steel bowl with a spoon inside, a white plastic colander, a gray quilted pot holder, and a small light gray mug. A white robotic arm is positioned to the right of the table, and a white mug with utensils sits on a higher rear counter.", "global_instruction_dense": "The left robotic arm moves downward toward the stainless steel bowl, grasps the spoon inside it, lifts the spoon, moves it to the white mug on the rear counter, lowers the spoon into the mug, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 483, "tasks": ["place spoon"], "length": 234, "global_instruction": "Pick up the metal spoon from the stainless steel bowl and place it into the white utensil mug on the adjacent counter.", "scene_description": "A light wooden table holds a silver stainless steel bowl with a metal spoon inside, a white plastic colander, and a gray quilted pot holder. An adjacent brown counter holds a white mug filled with metal utensils, and a robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The left robotic gripper moves downward to the stainless steel bowl on the wooden table, grasps the metal spoon inside the bowl, lifts the spoon, moves it leftward over the white utensil mug on the adjacent brown counter, lowers the spoon, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 484, "tasks": ["place spoon"], "length": 286, "global_instruction": "Take a metal spoon from the utensil-filled white mug and place it on the wooden table.", "scene_description": "A light brown wooden table holds a utensil-filled white mug, an empty white mug, a silver metal bowl, a clear water bottle, a yellow banana, a blue scooper, and an aluminum tray with food packaging. A white robotic arm is positioned above the right side of the table, with a TV on a white stand and whiteboards in the background.", "global_instruction_dense": "The right robotic arm moves toward the utensil-filled white mug, grasps a metal spoon, lifts it out of the mug, moves it leftward over the table, lowers it to the table surface, and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 485, "tasks": ["place spoon"], "length": 194, "global_instruction": "Take the orange spoon from the gray mug and place it into the turquoise plastic cup", "scene_description": "A white microwave sits under an open upper cabinet on a white kitchen counter. On the counter, a gray mug with an orange spoon inside is to the right of a turquoise plastic cup, with yellow rubber gloves and soap bottles placed further right.", "global_instruction_dense": "The right robotic arm moves toward the gray mug on the kitchen counter, grasps the orange spoon inside the mug, lifts the spoon, moves it over the adjacent turquoise plastic cup, lowers the spoon, releases it into the cup, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 486, "tasks": ["place spoon"], "length": 281, "global_instruction": "Place the red spoon from the teal cup into the gray mug.", "scene_description": "A white microwave sits on a kitchen counter under an open light-colored cabinet. On the counter, a teal cup with a red spoon inside is left of a gray mug, with yellow rubber gloves and soap dispensers to the mug's right.", "global_instruction_dense": "The left robotic arm moves toward the teal cup on the counter, grasps the red spoon inside it, lifts the spoon, moves it right above the gray mug, lowers the spoon into the mug, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 487, "tasks": ["place spoon"], "length": 187, "global_instruction": "Retrieve the red spoon from the cabinet shelf and place it on the kitchen counter.", "scene_description": "A white microwave is positioned under an open white wall cabinet on a kitchen counter, a blue bowl with a red spoon sits on the cabinet's lower shelf, and assorted cleaning supplies are arranged on the counter surface.", "global_instruction_dense": "The right robotic arm moves upward to the open cabinet lower shelf, grasps the red spoon inside the blue bowl on the shelf, lifts the spoon out of the bowl, moves it downward to the kitchen counter, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 488, "tasks": ["place spoon"], "length": 248, "global_instruction": "Pick up the wooden spoon from the kitchen counter and place it into the open upper cabinet.", "scene_description": "A white microwave sits on a light kitchen counter below an open white wall cabinet. On the counter right of the microwave are a grey utensil cup, yellow rubber gloves, soap dispensers, and a wooden spoon, with a robotic arm positioned above the microwave.", "global_instruction_dense": "The right robotic arm moves down toward the wooden spoon on the counter, grasps it, lifts and moves it toward the open upper cabinet, places the spoon inside the cabinet, releases it, then retracts the arm away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 489, "tasks": ["place spoon"], "length": 311, "global_instruction": "Place the wooden spoon on the kitchen counter into the open upper cabinet", "scene_description": "A white microwave is on the left of a kitchen counter, a wooden spoon rests on the counter between the microwave and sink. An open upper cabinet is above the microwave, and the sink area holds yellow gloves, soap bottles, a kettle, and a grey cup of utensils. A right robotic arm is positioned near the sink.", "global_instruction_dense": "The right robotic arm moves toward the wooden spoon on the kitchen counter, grasps it, lifts it, moves it to the open upper cabinet, and releases the spoon inside the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 490, "tasks": ["place spoon"], "length": 398, "global_instruction": "Pick the orange spoon from the kitchen counter and place it inside the open upper cabinet.", "scene_description": "A kitchen counter holds a white microwave on its left, an open white upper cabinet above the counter, colorful utensils including an orange spoon on the countertop, an orange packet, yellow cloth, blue bowl, and a sink area with soap dispensers and a metallic kettle. A white robotic arm is positioned at the right of the counter.", "global_instruction_dense": "The right robotic arm lowers toward the orange spoon on the kitchen counter, grasps it, lifts and moves it into the open upper cabinet, releases the spoon onto the cabinet shelf, then retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 491, "tasks": ["place spoon"], "length": 384, "global_instruction": "Remove the wooden spoon from the upper cabinet and place it on the kitchen counter.", "scene_description": "A kitchen counter with a white microwave on the left, a sink with cleaning supplies and dishes, an open upper wall cabinet holding miscellaneous items including a wooden spoon, and a robotic arm positioned over the sink.", "global_instruction_dense": "The right robotic arm moves toward the open upper cabinet, grasps the wooden spoon inside the cabinet, pulls the spoon out of the cabinet, lowers it to the kitchen counter, and releases the spoon onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 492, "tasks": ["place spoon"], "length": 216, "global_instruction": "Place the small light green spoon into the clear glass on the kitchen counter", "scene_description": "A kitchen counter below an open wall cabinet holds a clear glass, a pink bottle with a black cap, a white soap pump, a silver kettle, assorted small utensils, and a sink area to the right. The open cabinet contains food packages, gray cups, a blue bowl, and an orange storage bag. A robotic arm is positioned near the sink on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small light green spoon on the kitchen counter, grasps it with its gripper, lifts and moves it over the clear glass, lowers the spoon into the glass, releases the spoon, then moves its arm away from the glass.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 493, "tasks": ["place spoon"], "length": 190, "global_instruction": "Pick up the metal spoon from the stovetop and place it into the beige paper cup.", "scene_description": "In a kitchen, a white gas stovetop holds a metal spoon, a small seasoning bottle, and a tray with a purple container and a beige paper cup. A wall-mounted spice rack with various seasoning jars is behind the stove, a refrigerator is on the left, and a robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic arm moves down toward the metal spoon on the stovetop, grasps the spoon, lifts it upward, moves it toward the beige paper cup on the tray, and inserts the spoon into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 494, "tasks": ["place spoon"], "length": 304, "global_instruction": "Place the metal spoon into the blue bowl then reposition the blue bowl on the gas stove.", "scene_description": "A white gas stove holds a clear plastic water bottle, a metal spoon, a small metal shaker, and a blue plastic bowl on its surface. A black metal rack sits at the stove back, metal spice shelves are mounted on the light yellow wall above, and a robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the gas stove, grasps and lifts it, moves the spoon over the blue bowl and releases it into the bowl, then grasps the blue bowl, lifts it and repositions it on the stove surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 495, "tasks": ["place spoon"], "length": 389, "global_instruction": "Place the metal spoon from the stovetop into the black metal utensil rack", "scene_description": "A white gas stovetop holds a small gray spice jar, clear plastic water bottle, blue bowl, patterned paper cup, and metal spoon on its left flat surface. A black metal utensil rack stands at the back of the stove, and metal spice shelves are mounted on the pale yellow wall above the stove.", "global_instruction_dense": "The right robotic arm moves down to the stovetop, grasps the metal spoon, lifts and moves it toward the black utensil rack, inserts the spoon into an empty slot of the rack, then releases the spoon and moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 496, "tasks": ["place spoon"], "length": 188, "global_instruction": "Pick up the silver spoon from the rear of the stovetop and place it on the front stovetop surface near the burners.", "scene_description": "A white kitchen stovetop holds two black metal burner grates at its rear, a patterned paper cup containing a clear plastic bottle, a small blue bowl, and a silver spoon behind the bowl, with metal spice shelves mounted on the wall above the stove.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon positioned behind the blue bowl on the stovetop, grasps the spoon with its gripper, lifts it, moves it rightward over the stovetop burners, lowers it to the front empty stovetop surface, and releases the spoon there.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 497, "tasks": ["place spoon"], "length": 229, "global_instruction": "Pick up the silver metal spoon from the stovetop and place it into the yellow patterned paper cup on the water bottle.", "scene_description": "A white kitchen stovetop holds a silver metal spoon, a blue tape roll, a small gray spice jar, a clear plastic water bottle with a yellow patterned paper cup on its opening, and two black metal stove grates at the back, with spice racks on the wall behind the stove, and a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the silver metal spoon on the stovetop, grasps the spoon with its gripper, lifts the spoon, moves it to the opening of the yellow patterned paper cup on the water bottle, lowers the spoon into the cup, releases the spoon, then lifts its gripper away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 498, "tasks": ["place spoon"], "length": 209, "global_instruction": "Place the silver spoon from the rear left of the stovetop next to the small cylindrical container near the blue bowl.", "scene_description": "A white gas stovetop holds a clear water bottle on its front right burner, a small clear lid left of the burners, a silver spoon next to a small clear glass container at the rear left, a blue bowl with a paper cup inside on the rear middle burner, and a small cylindrical container next to the blue bowl. A black stove grate leans against the light yellow wall above the stove, with metal spice shelves mounted on the wall, and a robotic arm is positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves from its initial upper right position down toward the silver spoon at the rear left of the stovetop, grasps the spoon, lifts it, moves it rightward over the stovetop surface, lowers it next to the small cylindrical container near the blue bowl, and releases the spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 499, "tasks": ["place spoon"], "length": 207, "global_instruction": "Pick the metal spoon from the stove back panel and place it on the gas stove's burner grates.", "scene_description": "A white gas stove has a clear plastic water bottle topped with a patterned light cup and a blue bowl on its left burner, a small metal cylinder and a metal spoon on its back panel; metal spice racks full of jars are mounted on the pale yellow wall above the stove, a door with a glass window and a counter with a microwave are to the stove's right, and a robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves down from its initial upper right position toward the metal spoon on the stove back panel, grasps the spoon, lifts and moves it over the gas stove grates, then lowers and releases it onto the grates.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 500, "tasks": ["place spoon"], "length": 360, "global_instruction": "Pick up the metal spoon on the stovetop and place it into the paper cup on the stovetop.", "scene_description": "A white gas stovetop holds a clear plastic water bottle on a light brown cardboard block on the left, a blue bowl on a middle burner, a light patterned paper cup on the right front burner, and a metal spoon on the stovetop, with spice jar shelves mounted on the wall above the stove.", "global_instruction_dense": "The right robotic arm moves downward toward the metal spoon on the gas stovetop, grasps the spoon with its gripper, lifts it, moves it over the patterned paper cup, lowers it, and places the spoon inside the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 501, "tasks": ["place spoon"], "length": 156, "global_instruction": "Place the black spoon onto the kitchen counter next to the patterned paper cup.", "scene_description": "A white kitchen counter holds a wooden rack of stacked white paper cups on the left, a stainless steel ice maker with an open lid and green indicator light, a black and silver coffee machine, a wooden coffee pod rack, two decorated paper cups, white napkins, a face mask, and a small white cup. A robotic arm holding a black spoon is at the upper right edge of the frame.", "global_instruction_dense": "The right robotic arm holding a black spoon moves from the upper right of the frame downward and leftward toward the kitchen counter, adjusts its position above the patterned paper cup on the right side of the counter, then lowers the spoon to place it on the counter surface adjacent to the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 502, "tasks": ["place spoon"], "length": 210, "global_instruction": "Hang the black plastic spoon on the K-cup pod rack and rotate the K-cup pod rack.", "scene_description": "A white kitchen counter holds a stack of white paper cups on a left wooden holder, a silver ice maker with a green indicator light, a silver and black coffee machine, a wooden supply organizer, a rotating K-cup pod rack, a black plastic spoon, and a sink with faucet in the background, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves to the black spoon on the counter, grasps it, lifts it to hang on the top of the K-cup pod rack, rotates the K-cup pod rack, then lifts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 503, "tasks": ["place spoon"], "length": 244, "global_instruction": "Pick up the large black spoon from the kitchen counter and place it into the open drawer.", "scene_description": "A white kitchen counter holds a black microwave at its far end, a large white plate on the left, a large black spoon, a small white dish, and two small black utensils in the center, plus a small white dish and tiny black spoon near the microwave, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the large black spoon on the kitchen counter, grasps the spoon with its gripper, lifts it, moves right over the open drawer beneath the counter, and releases the spoon into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 504, "tasks": ["place spoon"], "length": 317, "global_instruction": "Take a black spoon from the open drawer and place it on the kitchen counter.", "scene_description": "A silver microwave sits at the far end of a white kitchen counter, with white plates and black forks on the counter, an open drawer with black utensils to the counter's right, and a right robotic arm near the drawer.", "global_instruction_dense": "The right robotic arm moves toward the open drawer, grasps a black spoon inside the drawer, lifts the spoon, moves it over the white kitchen counter, and releases the spoon onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 505, "tasks": ["place spoon"], "length": 335, "global_instruction": "Pick up the black spoon on the counter, place it into the open pull-out drawer, then close the drawer.", "scene_description": "On a white kitchen countertop, a black and silver microwave sits in the back corner, a white plate and a small white round lid are on the left of the counter, a black spoon is on the counter section next to the microwave, and an open white pull-out drawer is under that counter section, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the black spoon on the kitchen counter next to the microwave, grasps the spoon, lifts it, moves it over the open white pull-out drawer, releases the spoon into the drawer, then pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 506, "tasks": ["place spoon"], "length": 408, "global_instruction": "Place a small metal spoon from the tan storage box into the light brown shape-sorting cube.", "scene_description": "A white tabletop holds a light brown shape-sorting wooden cube with shaped cutouts at the center, a tan rectangular storage box with a red oval label (on a white plastic tray to the left of the cube, topped with a white paper sheet) and small light wooden blocks under the tray. A white robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm first adjusts the position of the light brown shape-sorting cube on the table, then removes the white paper sheet from the top of the tan storage box and sets it on the table, grasps a small metal spoon from inside the storage box, moves the spoon to the shape-sorting cube, and drops the spoon into the cube.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 507, "tasks": ["place spoon"], "length": 196, "global_instruction": "Place the black spoon on the counter into the white utensil mug", "scene_description": "A white kitchen counter has a three-tier brown snack rack on the left, a metal cup rack with red and white cups, a white utensil mug, scattered black utensils, a wooden paper towel holder, and a right robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the black spoon on the kitchen counter, grasps the spoon, lifts it, moves it over the white utensil mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 508, "tasks": ["place spoon"], "length": 251, "global_instruction": "Take the metal spoon out of the wooden puzzle box and place it into the open wooden container inside the clear storage box.", "scene_description": "A blue basin filled with multicolored small beads, clear plastic storage boxes, an orange small ball, a light brown wooden puzzle box with a metal spoon protruding from its top are placed on a white table. The basin is at the leftmost of the table, the puzzle box is in the middle of the table, and a white robotic arm with black gripper is at the right side of the scene.", "global_instruction_dense": "The right robotic arm moves its gripper toward the metal spoon sticking out of the wooden puzzle box on the table, grasps the spoon, lifts it out of the puzzle box, moves it leftward over the open wooden container, lowers the spoon, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 509, "tasks": ["place spoon"], "length": 529, "global_instruction": "Take the metal spoon from the small wooden box and place it into the blue bowl.", "scene_description": "A blue bowl filled with colorful small beads, a clear plastic bin holding a small beige wooden box (with a metal spoon and colorful blocks inside, plus an orange ball on top of the bin), and a beige wooden shape-sorter box with a blue star cutout are arranged on a white table. A white robotic arm is positioned at the right end of the table.", "global_instruction_dense": "The right robotic arm moves to grasp the small wooden box inside the clear plastic bin, lifts and tilts the box to pour all contained colorful blocks into the clear bin, sets the empty small wooden box on the table between the clear bin and the shape-sorter cube, then reaches into the clear bin to adjust and grasp the metal spoon, lifts the spoon, moves it left over the blue bowl, and releases it so the spoon falls into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 510, "tasks": ["place spoon"], "length": 261, "global_instruction": "Pick a spoon from the patterned utensil cup and place it on the white kitchen countertop.", "scene_description": "A tiered wicker basket with orange, red, green, and purple packaged snacks sits on the left of a white kitchen countertop. In the middle of the counter is a rotating metal cup rack holding white red-rimmed cups, and to its right are a patterned cup with utensils, two smaller cups, a plastic lid, and small items. A robotic arm is positioned above the counter near the cup rack.", "global_instruction_dense": "The right robotic arm moves toward the patterned cup holding utensils, grasps a spoon with its gripper, lifts the spoon, moves it rightward over the empty section of the white countertop, lowers it, releases the spoon onto the counter, and moves back slightly.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 511, "tasks": ["place spoon"], "length": 175, "global_instruction": "Place the black spoon on the counter near the other black utensils.", "scene_description": "A white kitchen counter holds a wooden paper cup dispenser with stacked paper cups, several black utensils (fork, knife, spoon, tongs, sealed wrapped utensil), small purple sachets, three cups (one white with red interior, two patterned white cups), a coffee machine, and a silver canister at the rear, with a right robotic arm positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the black spoon on the right section of the counter, grasps it, lifts it, moves it left to the area near the fork and knife, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 512, "tasks": ["place spoon"], "length": 382, "global_instruction": "Place the silver spoon lying on the table into the blue bowl.", "scene_description": "A white table holds a clear plastic container with food items on its left, a small box of colorful toys in front of the container, a silver spoon to the right of the toy box, a wooden shape-sorting cube with a blue bowl (containing a spoon) on top, and a roll of white paper towels left of the cube; a right robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the white table, grasps it, lifts it, moves it over the blue bowl resting on the wooden shape-sorting cube, lowers it into the bowl, releases it, then moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 513, "tasks": ["place spoon"], "length": 258, "global_instruction": "Pick the metal spoon from the blue bowl and place it on the white tabletop", "scene_description": "A white long table holds a clear plastic container with small items, a small wooden box of colorful shape blocks, a light wooden shape-sorting box with a blue bowl (containing a metal spoon) on top, a roll of white paper towels left of the shape box, and a white robotic arm to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon inside the blue bowl atop the shape-sorting box, grasps the spoon, lifts it out of the bowl, moves it down to the table surface, releases it onto the table, then moves upward away from the placed spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 514, "tasks": ["place spoon"], "length": 186, "global_instruction": "Pick up the black spoon from the kitchen counter and drop it into the countertop disposal opening.", "scene_description": "A white kitchen countertop holds a wooden paper cup rack with stacked patterned paper cups, a white mug with red inner lining, a patterned disposable paper cup, black tongs, a black spoon, a small black knife, a clear plastic bag with purple contents, a silver canister, a coffee machine, a blue water bottle, and a robotic arm positioned above the right side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the black spoon on the kitchen counter, grasps the spoon with its gripper, lifts it, moves it over the countertop disposal opening, and releases the spoon to drop it into the opening.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 515, "tasks": ["place spoon"], "length": 140, "global_instruction": "Place the held black spoon onto the kitchen countertop then reposition the arm above the counter.", "scene_description": "A white kitchen countertop holds two patterned paper cups on the far left, a white cup with red interior holding black tongs, a wooden cup dispenser with stacked white paper cups, a silver open metal container, a grey coffee machine, and a dark blue water bottle. A left robotic arm holds a black spoon above the counter, and the right robotic arm base is at the right edge of the frame with a green indicator light.", "global_instruction_dense": "The left robotic arm lowers to place the black spoon it is holding onto the countertop, then lifts upward, moves leftward across the counter, and adjusts its position to lower toward the silver metal container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 516, "tasks": ["place spoon"], "length": 225, "global_instruction": "Place the black spoon from the patterned paper cup into the white mug with a red handle", "scene_description": "A white countertop holds a tipped patterned mug on the far left, a white mug with a red handle holding utensils to its right, a wooden stacked paper cup dispenser, a silver open tin, a standing patterned paper cup, a black spoon further right on the counter, a dark blue water bottle, coffee making appliances, and two robotic arms with the right arm stationary on a green lit base.", "global_instruction_dense": "The left robotic arm moves toward the standing patterned paper cup on the counter, grasps the black spoon inside the cup, lifts the spoon out, moves it left to the white mug with a red handle, lowers the spoon into the mug, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 517, "tasks": ["place spoon"], "length": 173, "global_instruction": "Take the black spoon from the red-handled white mug and place it into the bottom-left patterned cup.", "scene_description": "A white kitchen countertop holds a red-handled white mug with a black spoon inside, a sideways patterned empty cup, a patterned cup with liquid at the bottom left, a black metal cup rack, a wooden holder of stacked paper cups, a silver metal container, a dark blue water bottle in the background, and a robotic arm at the right.", "global_instruction_dense": "The left robotic gripper moves from the upper right area down toward the red-handled white mug, grasps the black spoon inside the mug, lifts the spoon out of the mug, moves it leftward to the bottom-left patterned cup, lowers the spoon into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 518, "tasks": ["place spoon"], "length": 321, "global_instruction": "Pick up the yellow plastic spoon from the counter and place it on the white plate next to the blue bowl.", "scene_description": "A white kitchen counter features a stainless steel sink, a yellow plastic spoon on the counter left of the sink, a white patterned paper cup on the counter beside the spoon, another white patterned paper cup inside the sink, a chrome faucet above the sink, a blue bowl on a white plate to the right of the sink, and a white robotic arm base on the far right edge of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the yellow spoon on the counter left of the sink, grasps the spoon, lifts it, moves it over the white plate adjacent to the blue bowl, lowers the spoon onto the plate, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 519, "tasks": ["place spoon"], "length": 205, "global_instruction": "Place the white plastic spoon on the counter into the blue cereal bowl.", "scene_description": "A white kitchen countertop holds various items: a black holder on a white cutting board to the left, a yellow coffee cup with a black lid, a stainless steel storage bin, a white paper towel roll on a holder, a small wooden rack, a white patterned cup, a blue cereal bowl, black food tongs, a metal fork, a white plastic spoon, a snack plate, and a sink with faucets on the far right.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the kitchen counter, grasps the spoon, lifts it, moves it over the blue cereal bowl, releases the spoon into the bowl, then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 520, "tasks": ["place spoon"], "length": 308, "global_instruction": "Place the white plastic spoon into the blue bowl on the kitchen counter", "scene_description": "A white kitchen counter holds black food tongs, a metal fork, a white plastic spoon, a yellow cup with a black lid, a roll of white paper towels, a stainless steel storage box, a white patterned paper cup, a blue bowl with food and a spoon inside, a small plate with food, an orange packaged snack, a blue packaged snack, and a sink with a faucet on the right. A white cutting board with a black knife block sits on the left side of the counter.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves toward the white plastic spoon on the kitchen counter, grasps the spoon, lifts it, moves it over the blue bowl, releases the spoon which falls onto the counter next to the bowl, then moves upward and exits the frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 521, "tasks": ["place spoon"], "length": 180, "global_instruction": "Place the white spoon from the white printed cup into the blue bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver toaster on the left, a wooden cup organizer behind, a patterned paper plate, a white printed cup with a white spoon inside, a blue bowl filled with small colorful items, and a sink to the right of the bowl, with a robotic gripper above the sink initially.", "global_instruction_dense": "The right robotic arm moves left from above the sink toward the white printed cup, grasps the white spoon inside the cup, lifts the spoon out of the cup, moves it right over the blue bowl, lowers the spoon into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 522, "tasks": ["place spoon"], "length": 217, "global_instruction": "Pick up the white spoon from the blue bowl and place it into the sink.", "scene_description": "A white kitchen counter has a silver toaster on its left end, followed by a wooden cup rack, a patterned paper plate, a white patterned cup, and a blue bowl containing a white spoon, with a sink at the counter's right end and a robotic arm positioned near the sink.", "global_instruction_dense": "The right robotic arm moves left toward the blue bowl on the counter, grasps the white spoon inside the bowl, lifts the spoon, moves right over the sink, and releases the spoon into the sink.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 523, "tasks": ["place spoon"], "length": 206, "global_instruction": "Take the metal spoon from the blue bowl and place it on the kitchen counter next to the bowl.", "scene_description": "A white kitchen counter holds a silver toaster on the left, a wooden cup rack at the back, a white patterned paper cup, a decorative patterned plate, a blue bowl with colorful candies, and a sink on the right, with a robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the blue bowl on the counter, grasps the metal spoon inside the bowl, lifts the spoon out of the bowl, moves it rightward, and places it on the counter surface adjacent to the blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 524, "tasks": ["place spoon"], "length": 304, "global_instruction": "Pick up the metal spoon from the blue bowl, move it over the paper cup, then place it back into the blue bowl.", "scene_description": "A silver recycling bin sits on the left of a white kitchen counter, with a wooden coffee organizer behind it, a white patterned paper cup, and a blue bowl holding a metal spoon and purple food at the center, with a sink and gray tiled backsplash in the background, and a robotic arm at the right edge.", "global_instruction_dense": "The right robotic gripper moves toward the metal spoon in the blue bowl, grasps and lifts the spoon out of the bowl, moves it over the white patterned paper cup, then moves it back to the blue bowl, and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 525, "tasks": ["place spoon"], "length": 148, "global_instruction": "Place the white plastic spoon on the kitchen counter into the white printed cup.", "scene_description": "A white kitchen counter with a stainless steel sink on the left against a gray tiled backsplash. On the counter, there are a green-capped dish soap bottle, blue sponge, two white tissue boxes, white printed cup, blue bowl with red contents, and white paper towel holder arranged next to the sink.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the counter, grasps it, lifts and moves it to the white printed cup, lowers the spoon into the cup, then releases the gripper and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 526, "tasks": ["place spoon"], "length": 308, "global_instruction": "Place the metal spoon from the blue bowl into the white patterned cup", "scene_description": "A white kitchen counter has a stainless steel sink on its left side. Placed on the counter are a green-capped cleaning solution bottle, blue scrubber, white patterned cup, blue bowl with red items inside, white storage containers, and a paper towel roll, with a right robotic arm positioned near the paper towel at the start.", "global_instruction_dense": "The right robotic gripper moves left toward the blue bowl on the counter, grasps the metal spoon inside the bowl, lifts the spoon, moves it above the adjacent white patterned cup, lowers the spoon into the cup, releases it, and then retracts.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 527, "tasks": ["place spoon"], "length": 376, "global_instruction": "Pick up the used spoon from the kitchen counter and place it into the trash bin below the counter.", "scene_description": "A white kitchen counter holds a used metal spoon on sauce-stained paper, a white bowl with food, a blue bowl of colorful cereal, an ArUco calibration board, a paper towel roll, a clear water bottle, a disposable paper cup, stacked white napkins, and a red mug in the background. A trash bin is positioned below the counter edge, and a right robotic arm is above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the used spoon on the sauce-stained paper on the counter, grasps the spoon, lifts it, moves it over the trash bin under the counter edge, releases the spoon to drop it into the trash, then moves back upward toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 528, "tasks": ["place spoon"], "length": 572, "global_instruction": "Pick up the silver metal spoon on the kitchen counter and place it next to the blue-and-white patterned plate.", "scene_description": "A white kitchen counter holds a silver metal spoon, a stack of white printed cups, a plain white bowl, a small blue-and-white patterned plate, a blue bowl filled with multicolored sprinkles, stacks of white paper napkins, clear plastic water bottles, a white paper cup, and a black phone stand on white paper. A gray trash bin sits below the counter, and a robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the silver metal spoon on the kitchen counter, grasps it with its gripper, lifts and moves it across the counter, then lowers and places it next to the blue-and-white patterned plate before releasing and lifting away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 529, "tasks": ["place spoon"], "length": 733, "global_instruction": "Pick up the small metallic spoon from the kitchen counter and place it into the grey trash bin.", "scene_description": "A white kitchen counter holds a stack of white paper towels, a black-and-white checkered board, clear plastic water bottles, a paper cup, a metal fork, a white plastic spoon, a small yellow item, two red packets, a thin wooden stick, a small metallic spoon, a blue bowl with purple contents, stacked white cups, and a napkin holder, with a grey trash bin below the right side of the counter.", "global_instruction_dense": "The right robotic arm moves from its initial position on the right toward the small metallic spoon on the kitchen counter, grasps it after adjusting its position, lifts and moves the spoon over the grey trash bin below the counter, then releases the spoon into the trash bin.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 530, "tasks": ["place spoon"], "length": 148, "global_instruction": "Take the white spoon from the patterned bowl and place it on the white table", "scene_description": "A white table is in front of a dark red and black sofa. On the table: a clear plastic tray with a black pen, a blue and white patterned bowl holding a white spoon, an open beige takeout container with small objects, a white tissue box, and a small green potted plant at the table's lower right. A smaller white table to the left holds a small purple potted plant, and a robotic gripper is visible at the top of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the blue and white patterned bowl, grasps the white spoon inside the bowl, lifts the spoon, moves it to the empty table surface to the right of the bowl, lowers the spoon, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 531, "tasks": ["place spoon"], "length": 296, "global_instruction": "Pick up the white plastic spoon and place it into the patterned bowl on the table.", "scene_description": "A white table holds a patterned bowl with small dark items, a white patterned cup, a white plastic spoon, a square container with yellow objects, a napkin holder, and stacked takeout boxes. Another table with two small potted plants and a dark cushioned booth are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the white plastic spoon on the table, grasps the spoon, lifts it, moves it over the patterned bowl holding small dark items, and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 532, "tasks": ["place spoon"], "length": 412, "global_instruction": "Place a white plastic spoon onto the white napkin on the white table.", "scene_description": "A white table holds a transparent plastic container, a brown wooden tray, a white patterned paper cup, a small light brown wooden piece, a white square napkin, a fabric-lined light grey tray, and a box of colorful blocks, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm moves into the scene, first places a white napkin into the transparent plastic container, then grasps a white plastic spoon, moves it over the white napkin on the table, and releases the spoon onto the napkin.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 533, "tasks": ["place spoon"], "length": 187, "global_instruction": "Pick up the white plastic spoon from the beige takeout container and place it into the white paper cup.", "scene_description": "A white table holds an open beige takeout container with a white plastic spoon inside, a small patterned plate, a white rectangular ceramic container, a brown wooden tray, a wooden bowl at the far end, a white paper cup, a clear plastic stationery container, and small yellow and beige blocks in the foreground.", "global_instruction_dense": "The right robotic arm moves down toward the open beige takeout container, grasps the white plastic spoon inside it, lifts the spoon, moves it left to the white paper cup, lowers the spoon into the cup, releases the spoon, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 534, "tasks": ["place spoon"], "length": 171, "global_instruction": "Pick up the white spoon from the takeout container and place it on the white tabletop.", "scene_description": "A long white table holds an open beige takeout container with a white spoon in its left section and small dark items in its right section, a white patterned paper cup left of the container, a clear plastic supply box on the far left, a small white square pad on the lower table, and additional trays further down the table.", "global_instruction_dense": "The right robotic arm moves down toward the white plastic spoon inside the open beige takeout container, grasps the spoon, lifts and moves it toward the lower area of the table, releases the spoon onto the table surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 535, "tasks": ["place spoon"], "length": 180, "global_instruction": "Pick up the metal spoon next to the dark pellets and place it near the small wooden storage rack.", "scene_description": "A white kitchen counter holds a paper towel roll, metal storage container, wooden item rack, small open box with colorful items, two white plastic trays (one holding dark pellets), a pile of dark pellets on white paper, a metal spoon next to the pellets, a stainless steel sink with faucet, and a black coffee machine against a grey tiled backsplash.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves toward the metal spoon next to the pile of dark pellets on the counter, grasps the spoon, lifts it, moves it left to the area adjacent to the small open storage box, lowers and releases the spoon onto the counter, then retracts its arm away from the work area.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 536, "tasks": ["place spoon"], "length": 201, "global_instruction": "Place the metal spoon on the counter onto the paper towel sheet near the sink.", "scene_description": "A white kitchen counter holds a large white paper towel roll on the left, a stainless steel container, wooden storage caddy, silver electric kettle, metal spoon, yellow cleaning brush, clear plastic container, open tray with dark pellets, and a paper towel sheet near the right-side sink. A robotic arm is positioned near the sink faucet.", "global_instruction_dense": "The right robotic arm moves from its position near the sink faucet, lowers to grasp the metal spoon on the counter, lifts the spoon, moves it over the paper towel sheet, places the spoon on the sheet, then releases and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 537, "tasks": ["place spoon"], "length": 180, "global_instruction": "Pick up the silver spoon from the kitchen counter and place it back onto the counter surface.", "scene_description": "A white kitchen counter holds a large white paper towel roll on the left, a beige tray with dark coffee beans, a silver metal spoon, a brown glass coffee bean jar with a silver lid, a recessed sink with metal faucets, and a clear plastic container.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves down to grasp the silver spoon on the counter, lifts it briefly, lowers it back to the counter, then retracts upward and away from the work surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 538, "tasks": ["place spoon"], "length": 200, "global_instruction": "Pick the metal spoon from the tray and place it on the adjacent kitchen counter surface.", "scene_description": "A kitchen counter holds a large white paper towel roll on the left, a white cup adjacent to it, a tray with brown pellets and a metal spoon, and a robotic arm at the counter's right, with a grey tiled wall, sink area, and wooden kitchen shelf in the background.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon in the tray on the counter, grasps the spoon, lifts it, moves it to the open counter area next to the tray, lowers it, releases it onto the counter, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 539, "tasks": ["place spoon"], "length": 164, "global_instruction": "Place the silver spoon on the kitchen counter into the blue-and-white patterned paper plate.", "scene_description": "A white kitchen countertop holds a silver spoon on its right section, a blue-and-white chevron patterned paper plate left of the spoon, a white printed cup behind the plate, a paper towel roll, a small wooden box of packets, and a touchscreen device on the left edge, with a robotic arm positioned at the right of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the silver spoon on the kitchen counter, grasps the spoon with its gripper, lifts it, moves it left over the blue-and-white paper plate, lowers it, and releases the spoon into the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 540, "tasks": ["place spoon"], "length": 150, "global_instruction": "Pick the metal spoon from the paper plate and place it on the adjacent kitchen countertop.", "scene_description": "A white kitchen countertop holds a black-and-white patterned paper plate with a metal spoon inside, a red and white container, a white printed cup, a stainless steel kitchen appliance, and a robotic arm on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves from its initial position at the right of the counter toward the paper plate, grasps the metal spoon inside the plate, lifts the spoon, moves it to the empty counter space next to the plate, and releases the spoon onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 541, "tasks": ["place spoon"], "length": 270, "global_instruction": "Pick up the silver spoon, place it into the white patterned cup, then tip the cup over onto the counter.", "scene_description": "A white kitchen counter holds a silver spoon, a white patterned cup, a small wooden box, a paper towel roll, a zigzag-patterned plate with a gold utensil, a red-and-white container, and a silver appliance on the left. A robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the silver spoon on the counter, lifts and moves the spoon to the white patterned cup, inserts the spoon into the cup, then grips the cup, tilts it, and knocks the cup over onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 542, "tasks": ["place spoon"], "length": 190, "global_instruction": "Remove the metal spoon from the white mug with red interior and place it on the kitchen counter.", "scene_description": "A light-colored kitchen counter holds a red-and-white pitcher, a zigzag-patterned plate, a white mug with red interior containing a metal spoon, a second patterned white mug, a paper towel roll, and a touchscreen coffee machine on the left, with a robotic arm positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves from its starting position at the right of the counter toward the white mug with red interior, grasps the metal spoon inside the mug, lifts the spoon out of the mug, moves it over the empty surface of the counter, and releases the spoon to rest on the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 543, "tasks": ["place spoon"], "length": 217, "global_instruction": "Pick up the silver spoon on the counter and place it into the white mug with red interior.", "scene_description": "A white kitchen counter holds a silver spoon, a white bowl with red interior and patterned rim, a plain white mug, a white mug with red interior and handle, a white paper towel roll, a small wooden organizer, and a display screen on the left; the robotic arm is positioned above the far end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the counter, grasps it with its gripper, lifts the spoon, moves it to the white mug with red interior, and lowers the spoon into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 544, "tasks": ["place spoon"], "length": 205, "global_instruction": "Place a spoon from the white utensil cup onto the patterned paper plate on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver Keurig coffee machine on its left, a white utensil cup, a blue-and-white patterned paper plate, assorted kitchen items, with a white robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the white utensil cup on the counter, grasps a spoon inside the cup, lifts it, moves it over the patterned paper plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 545, "tasks": ["place spoon"], "length": 408, "global_instruction": "Place the small white spoon from the kitchen counter into the white patterned paper cup", "scene_description": "A black coffee maker with a clear glass carafe of brown liquid, a dark brown bag, a metallic silver lid, a small patterned white can, two oranges, a blue and white patterned plate, and a white patterned paper cup are arranged on a white kitchen counter. A right robotic arm is positioned above the far end of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the small white spoon on the kitchen counter, grasps it, dips it onto the blue and white patterned plate, moves it over the white patterned paper cup, releases the spoon into the cup, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 546, "tasks": ["place spoon"], "length": 847, "global_instruction": "Grasp the white plastic spoon on the kitchen counter, move it, and place it back onto the countertop.", "scene_description": "A white kitchen countertop against light grey horizontal tiled walls, with two patterned oven mitts on the left, a clear pump spray bottle, a large clear jar filled with blue packets, a small dark clip next to the jar, two recessed square sink openings, a white plastic spoon, a small white plate, and orange food pieces on the right. The right robotic arm is partially visible at the top right edge.", "global_instruction_dense": "The right robotic arm moves down from the top right of the frame toward the white plastic spoon on the kitchen counter, grasps the spoon with its gripper, lifts and moves the spoon repeatedly over the counter near the recessed sink opening, then lowers the spoon and releases it back onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 547, "tasks": ["place spoon"], "length": 501, "global_instruction": "Grasp the white plastic spoon, agitate it inside the large countertop opening, then place it back on the counter.", "scene_description": "Light gray horizontal tiled wall above a white kitchen countertop. On the counter: two patterned paper cups at the left, a clear hand sanitizer bottle, a large clear jar filled with blue packaged items, a small metal clip, a small square black slot, and a larger square black opening in the middle; a white plastic spoon and a white plate with food residue at the right.", "global_instruction_dense": "The right robotic arm enters the scene from the top right, moves down to the white plastic spoon on the right of the counter, grasps the spoon, moves it repeatedly inside the large square black opening on the counter, lifts it out, releases it back onto the countertop, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 548, "tasks": ["place spoon"], "length": 560, "global_instruction": "Place the light beige plastic spoon from the countertop into the rectangular black sink opening", "scene_description": "A white kitchen counter is against a light gray horizontal tiled backsplash. Two beige patterned oven mitts are at the left of the counter, followed by a small clear spray bottle, a large clear jar filled with blue packets, a small square black opening, a larger rectangular black sink opening, a light beige plastic spoon, a larger light plastic utensil, two small red clips, and a white plate at the far right. A white robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the light beige plastic spoon on the countertop, grasps it, lifts and moves it over the rectangular black sink opening, releases the spoon into the sink, then returns to its initial position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 549, "tasks": ["place spoon"], "length": 448, "global_instruction": "Pick up the white plastic spoon on the countertop and place it into the lower square recessed countertop opening.", "scene_description": "A white kitchen countertop with light gray horizontal tiled backsplash has two patterned oven mitts on the far left, a clear pump spray bottle next to a large glass jar filled with blue and white packets toward the back, a white plastic spoon between two square recessed countertop openings, and two small red plastic strips next to a white plate on the right.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the white plastic spoon on the counter, grasps it with the gripper, lifts and moves it over the lower square recessed countertop opening, releases the spoon which lands on the counter next to the opening, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 550, "tasks": ["place spoon"], "length": 526, "global_instruction": "Pick up the white plastic spoon next to the orange snack package and place it on the left kitchen counter near the oven mitts.", "scene_description": "A white kitchen counter holds two patterned fabric oven mitts on the left, a small clear spray bottle, a large clear jar filled with blue packaged items, a square black recessed panel, an orange plastic snack package, a white plastic spoon adjacent to the package, and a white oval plate below the package, with a sink cutout in the counter.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic spoon beside the orange snack package, grasps the spoon, manipulates it over the sink and plate area for adjustment, then moves the spoon leftward and places it on the kitchen counter near the patterned oven mitts.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 551, "tasks": ["place spoon"], "length": 490, "global_instruction": "Grasp the white plastic spoon, move it over the sink, then place it back on the kitchen counter.", "scene_description": "A light gray tiled kitchen counter has two patterned oven mitts on the left, a white plastic spoon near the sink edge, an orange snack packet on white paper to the spoon's right, a small clear hand soap bottle, a large glass jar filled with blue packaged items against the wall, and a white plate at the bottom right, with a robotic arm positioned above the spoon.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic spoon on the kitchen counter, grasps it, lifts it and moves it over the sink, adjusts the spoon, then moves it back to the counter and releases it near its original position.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 552, "tasks": ["place spoon"], "length": 154, "global_instruction": "Take the spoon out of the white paper cup and place it into the metallic container behind the cup.", "scene_description": "A white kitchen counter has a green-cap dish soap bottle, clear spray bottle, small silver container next to a sink on the left; a white-blue patterned small plate, a spoon, a white printed paper cup with a spoon inside, stacked white napkin boxes, a metallic container, and a robotic arm on the right, against a gray tiled backsplash.", "global_instruction_dense": "The right robotic gripper moves toward the white printed paper cup, grasps the spoon inside the cup, lifts the spoon out, moves it to the metallic container behind the cup, drops the spoon into the container, then moves away from the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 553, "tasks": ["place spoon"], "length": 541, "global_instruction": "Rearrange the kitchen counter items by moving the paper cup and placing the silver spoon into the storage tray.", "scene_description": "A white kitchen countertop holds a green-capped dark dish soap bottle, clear spray bottle, silver faucet knob, silver spoon, white paper cup with decorative patterns, stacked white boxes, blue-and-white patterned saucer, and white storage trays, in front of a gray tiled wall.", "global_instruction_dense": "The right robotic arm enters the workspace, moves toward the decorated paper cup, grasps and knocks it over onto its side, then grasps the silver spoon, lifts it, attempts to place it into the rear storage tray slot, then moves the spoon and places it on the white cloth near the blue-and-white saucer before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 554, "tasks": ["place spoon"], "length": 380, "global_instruction": "Pick up the metal spoon from the counter and place it into the trash can.", "scene_description": "A white kitchen counter against a grey tiled backsplash holds a dark dish soap bottle with a green cap, clear spray bottle, silver sink knob, printed paper cup on the left; stacked white boxes, a blue-and-white patterned plate, a metal spoon, white paper sheets, and a trash can are arranged further to the right.", "global_instruction_dense": "The right robotic gripper moves down toward the metal spoon on the white counter, grasps and lifts the spoon, moves it over the trash can at the rear of the counter, releases the spoon into the trash can, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 555, "tasks": ["place spoon"], "length": 248, "global_instruction": "Place the metal spoon onto the white paper napkin on the kitchen counter.", "scene_description": "A white kitchen counter against a grey tiled wall holds a metal spoon on a napkin, a stack of white napkins, a patterned paper cup, a white tray with dark food bits, and a clear plastic bottle at the left edge.", "global_instruction_dense": "The right robotic gripper descends from above the counter, adjusts the position of a white paper napkin, moves the metal spoon onto the napkin, then lifts and retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 556, "tasks": ["place spoon"], "length": 377, "global_instruction": "Place the silver spoon on the countertop into the rectangular tray.", "scene_description": "A white countertop holds a silver metal spoon, folded white napkins, stacked white boxes, a metal napkin dispenser, a light rectangular tray, and stacked printed paper cups. A white robotic arm is positioned at the upper right of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the silver spoon on the countertop, grasps and lifts it, moves it over the rectangular tray, lowers and releases the spoon into the tray, then moves away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 557, "tasks": ["place spoon"], "length": 182, "global_instruction": "Place the silver metal spoon into the beige takeout box with the orange edge.", "scene_description": "A white kitchen countertop holds stacked white paper napkins, a small yellow block, a red and white marked cube, a blue and white patterned ring, a metal napkin holder with white napkins, a white plate, stacked patterned paper cups, a silver metal spoon, two open beige takeout boxes (one with an orange edge, one plain), and an open light beige box of small colorful items. Grey tiled walls with electrical outlets are behind the counter, and a robotic arm is positioned at the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the silver metal spoon near the stacked paper cups on the counter, grasps it, lifts it, moves it over the beige takeout box with the orange edge, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 558, "tasks": ["place spoon"], "length": 180, "global_instruction": "Place the silver spoon from the counter behind the takeout box into the empty upper compartment of the takeout box.", "scene_description": "A white kitchen countertop holds an open beige three-compartment takeout box (with an orange knife, one silver spoon, and small colorful items in separate compartments), a blue-and-white patterned paper plate, a yellow sponge, a red-and-white rectangular block, a metal napkin dispenser, a white bowl, stacked disposable cups, and a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the silver spoon on the counter behind the takeout box, grasps the spoon with its gripper, lifts it, moves it over the empty upper compartment of the takeout box, lowers it, and releases the spoon into that compartment.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 559, "tasks": ["place spoon"], "length": 395, "global_instruction": "Pick up the light yellow plastic spoon and place it next to the white mug with red interior.", "scene_description": "A white tabletop counter sits next to large windows lined with red tinsel. On the counter, there are white paper napkins, a black snack bag, a patterned small bowl, a light yellow plastic spoon, a small purple packet, a patterned white mug, a white plate with dark items, a white mug with red interior, a large golden wooden bowl, and a small Christmas tree in the far right corner.", "global_instruction_dense": "The right robotic arm moves toward the light yellow plastic spoon on the white counter, grasps it, moves it across the counter, and releases it next to the white mug with red interior.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 560, "tasks": ["place spoon"], "length": 155, "global_instruction": "Pick up the small dark spoon and place it onto the white plate.", "scene_description": "A white countertop holds a grey mug with red rim and handle, a dark snack packet, a small dark spoon, a white plate, a light patterned cup, red tinsel along the back edge near the window, and a wooden bowl with a small plant at the back right, with a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic gripper lowers toward the small dark spoon on the countertop, grasps it, lifts it, moves it over the white plate, lowers it, releases it onto the plate, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 561, "tasks": ["place spoon"], "length": 184, "global_instruction": "Place the white spoon from the napkin onto the table next to the plate of diced food", "scene_description": "A white table holds a plate of diced food, a white mug, a red cup, a dark snack packet, a small green potted plant, two patterned paper baking cups, and a white spoon resting on a white napkin. A robotic arm is positioned above the table, and a smaller white table with a small green plant sits to the left of the main table.", "global_instruction_dense": "The right robotic gripper moves downward toward the white spoon on the napkin, grasps the spoon, lifts it, moves it left to the area beside the plate of diced food, then releases the spoon to rest on the table next to the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 562, "tasks": ["place spoon"], "length": 227, "global_instruction": "Place the white spoon from the table near the plate of mixed food.", "scene_description": "A white table holds a plate of mixed bite-sized food, a white mug, a small green potted plant, black snack packets, a red cup, two blue-and-white patterned paper bowls, a white spoon, and folded white napkins. A robotic base is positioned to the right of the table, and a smaller white table with a green potted plant and a chair are to the left.", "global_instruction_dense": "The left robotic arm moves downward toward the white spoon on the table, grasps it, lifts it, moves it left toward the plate of mixed food, lowers it, and releases it onto the table near the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 563, "tasks": ["place spoon"], "length": 202, "global_instruction": "Pick up the white spoon from the front blue-and-white paper plate and place it near the sink.", "scene_description": "A silver and black Keurig coffee machine sits on a white kitchen counter, with a stack of k-cup coffee pods to its left, a white printed paper cup and two blue-and-white patterned paper plates (with a white spoon on the closer plate) to its right, and a sink with a faucet in the background.", "global_instruction_dense": "The right robotic gripper enters from the right of the frame, moves down to grasp the white spoon on the front blue-and-white paper plate, lifts the spoon, moves it rightward to the counter near the sink, places it there, and exits the frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 564, "tasks": ["place spoon"], "length": 187, "global_instruction": "Place the metal spoon on the kitchen counter into the white bowl", "scene_description": "A white kitchen countertop holds a black mesh K-cup holder with coffee pods on the left, stacked paper cups behind the holder, a silver and black Keurig coffee machine in the center, plus a water bottle, small plastic cup, white bowl, patterned plate, silver container, white mug and sink area on the right, with a snack shelf at the far left.", "global_instruction_dense": "The right robotic gripper enters from the top right, moves toward the metal spoon on the right side of the counter, grasps it, lifts it, moves it left over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 565, "tasks": ["place spoon"], "length": 194, "global_instruction": "Place the spoon from the patterned small plate into the white bowl of food.", "scene_description": "A kitchen countertop holds a black wire coffee pod carousel on the left, stacked paper cups behind the carousel, a silver and black Keurig coffee machine at the center, a white bowl with food and a spoon to the Keurig's right, a blue and white patterned small plate with a spoon on it, a water bottle, a silver appliance, a white printed cup, a brown coffee bean container, and a black coffee machine on the far right, with a robotic arm at the far right edge of the frame.", "global_instruction_dense": "The right robotic gripper moves left toward the blue and white patterned small plate on the counter, grasps the metal spoon resting on the plate, lifts and moves the spoon left to the white food bowl, releases the spoon into the bowl, then moves right away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 566, "tasks": ["place spoon"], "length": 216, "global_instruction": "Move spoons from the white bowl into the adjacent black tray", "scene_description": "A white kitchen counter holds a K-cup pod holder on the left, a Keurig coffee machine at center, a white bowl with spoons and food to the machine's right, and a black tray next to the bowl, with stacked paper cups, snack shelves, and kitchen appliances in the background.", "global_instruction_dense": "The right robotic gripper moves to the white bowl right of the Keurig machine, grasps a spoon, moves it to the black tray and releases it, then repeats the process to move a second spoon from the bowl to the tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 567, "tasks": ["place spoon"], "length": 153, "global_instruction": "Pick up the white plastic spoon on the counter and place it into the rear patterned paper cup.", "scene_description": "A white kitchen counter holds two white patterned paper cups, a white plastic spoon, two blue-and-white patterned bowls with dark contents, stacked white napkins, and a metal napkin holder against a grey tiled wall, with a robotic arm at the right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the counter, grasps it, lifts and moves it over the rear white patterned paper cup, lowers the spoon into the cup, releases it, then moves back toward the right.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 568, "tasks": ["place spoon"], "length": 241, "global_instruction": "Pick up the white spoon from the table and place it into the blue bowl", "scene_description": "A white table in an open office corridor holds two paper cups, two patterned plates, a blue bowl of red food, a blue snack box, and a small white spoon. A smaller white table with two potted plants sits behind it next to a dark padded bench.", "global_instruction_dense": "The right robotic gripper descends toward the white spoon on the table, grasps the spoon, lifts it, moves it over the blue bowl, lowers it, and releases the spoon into the blue bowl before retracting slightly.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 569, "tasks": ["place spoon"], "length": 154, "global_instruction": "Place the yellow plastic spoon next to the blue bowl on the table", "scene_description": "A white table holds two patterned paper cups, two black-and-white striped small bowls, a blue bowl with purple contents, a blue box, and a yellow plastic spoon on a white napkin. A dark red and black couch is behind the table, a second small white table with a green potted plant is to the left, and a window with white curtains is in the background.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves down to grasp the yellow plastic spoon on the white napkin, lifts the spoon, moves it left toward the blue bowl, places it next to the blue bowl, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 570, "tasks": ["place spoon"], "length": 427, "global_instruction": "Place the plastic spoon into the white cup after scooping contents from the blue bowl.", "scene_description": "A white table holds a blue bowl, two patterned small bowls, two white cups, and a plastic spoon on a napkin; a background table with two small decorative plants is visible, no robotic arm is present initially.", "global_instruction_dense": "The left robotic arm descends to grasp the plastic spoon on the napkin, moves it to the blue bowl to scoop contents, then places the spoon into the white cup and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 571, "tasks": ["place spoon"], "length": 242, "global_instruction": "Take a spoon from the patterned cup and place it on the white table", "scene_description": "A white table has a patterned white cup, a small blue bowl, two black-and-white patterned bowls, a light-colored plastic fork, and a blue box on its surface. To the left, another white table holds two small potted plants, with dark cushioned seating behind both tables.", "global_instruction_dense": "The right robotic gripper enters from the top of the frame, moves to the patterned cup on the table, grasps a white spoon inside the cup, lifts the spoon out, moves it to an empty spot on the table, lowers and releases the spoon onto the table, then lifts away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 572, "tasks": ["place spoon"], "length": 176, "global_instruction": "Place the white plastic spoon on the napkin next to the patterned bowl of brown food.", "scene_description": "A white table holds a patterned bowl of brown food, an empty patterned bowl, a blue bowl of colorful candies, a white paper cup, a yellow drink can, a blue snack box, a small silver item, a white plastic spoon on a napkin, and a small blue snack packet. A robotic arm is positioned at the right of the table, with a smaller table holding two small potted plants and a dark sofa in the background.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon resting on the napkin on the table, grasps the spoon with its gripper, lifts it, moves it left across the table, and places it next to the patterned bowl holding brown food.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 573, "tasks": ["place spoon"], "length": 308, "global_instruction": "Extract a white spoon from the orange package and place it on the white table.", "scene_description": "A white table holds a flat orange sealed package, a patterned paper cup, a yellow-green soda can, a blue box, a blue bowl of colorful items, two patterned bowls, a napkin, and a small silver object. A robotic arm is positioned at the right of the table, with another table with two potted plants and seating in the background.", "global_instruction_dense": "The right robotic arm moves from its right initial position toward the orange package on the table, grasps and opens the package to retrieve a white spoon inside, moves the spoon to an empty spot on the table, releases the spoon on the table, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 574, "tasks": ["place spoon"], "length": 684, "global_instruction": "Dip the white plastic spoon in the blue bowl, place it into the rightmost white paper cup, then interact with the dark patterned bowl contents using the attached bristle tool.", "scene_description": "A white tabletop holds a blue bowl filled with colorful granular items, a white plastic spoon, two black-and-white patterned bowls (one with dark brown and white contents, the other holding a blue packet and wooden spoon), a blue rectangular box, an orange packet, and two white paper cups on the table's right side. A smaller white table with two small potted plants sits to the left, with a dark leather sofa behind the tables.", "global_instruction_dense": "The right robotic arm descends toward the white plastic spoon on the table, grasps and lifts it, dips it into the blue bowl of colorful granular items, moves to the rightmost white paper cup and places the spoon inside, then moves to the patterned bowl with dark brown contents, dips its attached bristle tool into the bowl, and interacts with the contents until the end of the clip.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 575, "tasks": ["place spoon"], "length": 410, "global_instruction": "Scoop dark brown food from the patterned bowl and place the food-laden spoon next to the left white patterned cup on the table.", "scene_description": "A white table holds a patterned bowl of dark brown food, a patterned bowl of white plastic spoons, a left-side white patterned cup, a blue box, an orange packet, a right-side light blue bowl with red contents, a small black round object, and a right-side white cup. A robotic arm is positioned above the right of the table, with a dark leather couch and another white table with two small potted plants in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the patterned bowl holding white plastic spoons, grasps one white plastic spoon, lifts the spoon, moves it to the adjacent patterned bowl of dark brown food, scoops a portion of the dark food with the spoon, lifts the food-filled spoon, moves it leftward across the table to the area next to the left white patterned cup, lowers the spoon, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 576, "tasks": ["place spoon"], "length": 203, "global_instruction": "Place the purple plastic spoon into the purple plastic cup on the kitchen counter.", "scene_description": "A dark kitchen counter has a silver coffee maker on its left, a yellow-bodied pink-rimmed plastic bowl, purple plastic cup, orange plastic funnel, green plastic cup, purple plastic plate, and a wooden knife block with black knives on its right, with a window behind the counter and wooden flooring to the right.", "global_instruction_dense": "The right robotic arm extends from the right side of the frame toward the counter, grasps the purple plastic spoon, lifts it, moves it over the purple plastic cup, releases it into the cup, then retracts back out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 577, "tasks": ["place spoon"], "length": 156, "global_instruction": "Place the purple spoon from the orange holder into the yellow bowl on the kitchen counter.", "scene_description": "A dark kitchen counter holds a silver coffee maker on its left, along with a yellow bowl with pink rim, purple cup, orange T-shaped holder, purple lid, bright green cup, small green knife, and a wooden knife block by a window with a dark curtain, wooden floor is visible to the counter's right.", "global_instruction_dense": "The right robotic arm enters from the top right, moves down to the orange T-shaped holder, grasps the purple spoon inside it, lifts the spoon, moves it left over the yellow bowl with pink rim, releases the spoon into the bowl, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 578, "tasks": ["place spoon"], "length": 293, "global_instruction": "Place the green plastic spoon into the clear container of granular food on the table.", "scene_description": "A black table next to a large window holds a cartoon-printed brown paper bag, multiple green-capped clear bottles, a blue-lidded plastic container, a teal-lidded plastic container, white paper napkins, a yellow can, a green plastic spoon, a stack of playing cards, a blue snack packet, a clear container of granular food, and a Franka robotic arm at the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the green plastic spoon on the table, grasps it, lifts and moves it over the clear granular food container, then releases the spoon into the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 579, "tasks": ["place spoon"], "length": 568, "global_instruction": "Pick up the green plastic spoon, move it over the clear snack container, then place it back on the table.", "scene_description": "A dark tabletop holds a clear container of light-colored small snacks, a green plastic spoon, a small pink bowl, a stack of white napkins, a small brown bowl, several playing cards, and an orange cartoon-faced box on the left. The right robotic arm is positioned above the back of the table near the window with blinds.", "global_instruction_dense": "The right robotic arm lowers from its initial position above the table, grasps the green plastic spoon in front of the clear snack container, lifts and moves the spoon over the snack container, then lowers the spoon back onto the table, releases it, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 580, "tasks": ["place spoon"], "length": 124, "global_instruction": "Place the green plastic spoon on the table into the small bowl with the yellow interior.", "scene_description": "A black tabletop holds a green plastic spoon, a small bowl with a yellow interior, a clear grain container, a red snack bowl, a yellow can, white napkins, and an orange smiley box, with a Franka robotic arm at the right edge of the table, and mesh-blind windows behind the table.", "global_instruction_dense": "The right robotic gripper moves toward the green plastic spoon on the black table, grasps it, lifts it, moves it over the small yellow-interior bowl, lowers it, and releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 581, "tasks": ["place spoon"], "length": 438, "global_instruction": "Place the metal spoon from the coffee table into the green bowl", "scene_description": "A black coffee table holds a red-handled badminton racket, clear plastic cup, remote control, small red bowl, green bowl, metal spoon, and white lined trash bin. A grey cushioned couch sits to the left of the table, glass sliding doors are in the background, and a white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm lowers from its raised starting position toward the coffee table, grasps the metal spoon, lifts the spoon, moves it over the green bowl, and releases the spoon into the green bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 582, "tasks": ["place spoon"], "length": 376, "global_instruction": "Pick up the silver spoon from the black coffee table and place it back on the table surface.", "scene_description": "In a living room with a grey sofa and glass sliding doors, a black coffee table holds a white trash bin, clear plastic cup, white remote, small red decorative ball, green small bowl, silver spoon, small plastic packet, and orange-handled badminton racket. A Franka robotic arm has its gripper inside the white trash bin.", "global_instruction_dense": "The right robotic gripper first grasps the white trash bin, lifts and moves it aside, then lowers to the coffee table, grasps the silver spoon, lifts and moves it across the table, and finally places the spoon back onto the coffee table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 583, "tasks": ["place spoon"], "length": 373, "global_instruction": "Pick a silver spoon from the open cutlery drawer and place it on the kitchen counter.", "scene_description": "A dark green marble kitchen counter sits below a window. On the counter are red-lidded containers, a small white paper, a metal spice rack, a wooden knife block with black knives, and an orange-capped bottle. An open drawer below the counter holds silver cutlery.", "global_instruction_dense": "The right robotic arm lowers into the open cutlery drawer, grasps a silver spoon, lifts it out of the drawer, moves it over the countertop, and releases it onto the counter near the white paper.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 584, "tasks": ["place spoon"], "length": 257, "global_instruction": "Pick up the metal spoon from the kitchen counter and place it into the open cutlery drawer.", "scene_description": "A dark green kitchen countertop near a window holds a metallic spice rack, wooden knife block, condiment bottle, white paper, and red-lidded containers, with an open wooden cutlery drawer below the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the kitchen counter, grasps it with the gripper, lifts it, moves it over the open cutlery drawer, lowers it, releases it into the drawer, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 585, "tasks": ["place spoon"], "length": 219, "global_instruction": "Pick up the metal spoon from the kitchen counter and place it into the open drawer.", "scene_description": "A dark green marble kitchen counter has red lidded containers on its left, a white paper, a silver capsule holder, a wooden knife block with black knives, and an orange-capped bottle near the window. An open wooden drawer with utensils is positioned below the right edge of the counter, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves down toward the metal spoon resting on the counter near the white paper, grasps the spoon, lifts it, moves it over the open wooden drawer, releases the spoon into the drawer, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 586, "tasks": ["place spoon"], "length": 237, "global_instruction": "Pick the metal spoon from the yellow plate on top of the cream shelving unit and place it on the unit's middle shelf.", "scene_description": "A cream-colored open shelving unit, black low coffee table, and white robotic arm are in a carpeted living room. The shelf's top holds a yellow plate with a metal spoon and a small gray rectangular object; its middle shelf has a black phone, lower shelf has a black remote control. The coffee table next to the shelf holds small items including a gray cup, plastic packet, and book. A green sofa is to the left of the shelf, with glass sliding doors in the background.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon resting on the yellow plate atop the cream shelving unit, grasps the spoon, lifts it, moves it down to the unit's middle shelf, lowers the spoon onto the shelf, releases it, then moves back away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 587, "tasks": ["place spoon"], "length": 201, "global_instruction": "Place the wooden spoon from the countertop into the open utensil drawer", "scene_description": "A dark granite kitchen counter holds a silver toaster, orange plastic cup, clear plastic container, wooden spoon, loose papers, and a wooden knife block near a window with dark curtains. An open drawer full of kitchen utensils sits below the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp the wooden spoon on the kitchen counter, lifts it, moves it over the open utensil drawer, releases the spoon into the drawer, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 588, "tasks": ["place spoon"], "length": 280, "global_instruction": "Pick the silver spoon from the shelf top and place it on the shelf's middle tier.", "scene_description": "A light green three-tiered shelf stands in an indoor living space. On the shelf top: a black smartphone, a yellow plate with food, and a silver spoon at the top right edge. The middle shelf is empty, the lowest shelf holds two remotes and a red round container. A white robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The left robotic arm moves toward the silver spoon on the shelf top, grasps the spoon, lifts it, moves downward to the empty middle shelf, lowers the spoon, releases it onto the middle shelf, and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 589, "tasks": ["place spoon"], "length": 271, "global_instruction": "Place the metal spoon next to the small reddish dish into the short beige paper cup.", "scene_description": "A black tabletop holds a wooden spoon on a white napkin, two clear square plastic containers (one with light-colored food, one empty), a gray patterned tissue box, a tall light-colored cup, a short beige paper cup, a crumpled white napkin, a purple plate, a small dish with reddish food, and a metal spoon next to the dish; a black trash bin with a white liner sits at the table's far end, a painting hangs on the dark wall above the table, and a robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon next to the small reddish dish, grasps it, lifts it, moves it left to the short beige paper cup, lowers the spoon into the cup, then releases the spoon and lifts its gripper away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 590, "tasks": ["place spoon"], "length": 245, "global_instruction": "Move the metal spoon beside the beige mug to the area near the black slotted spatula on the black table", "scene_description": "A black table holds a light brown wooden spoon on a white napkin, a clear plastic container, metal tongs, a black slotted spatula, a grey patterned tissue box, a tall clear cup, a crumpled white napkin, a beige mug on a purple saucer, a metal spoon, and a small dish of orange food. A black trash can with a white liner sits against a grey wall with a white moon-themed artwork behind the table, and a white robotic arm is positioned at the upper right of the scene near a doorway on wooden flooring.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon next to the beige mug on the right of the black table, grasps the spoon with its gripper, lifts it, moves it left to the area near the black slotted spatula on the left side of the table, then lowers and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 591, "tasks": ["place spoon"], "length": 236, "global_instruction": "Place the wooden spoon into the gray utensil container on the black table", "scene_description": "A black table holds a wooden spoon on a white napkin, a gray container with metal tongs and a black fork, a gray tissue box, a clear plastic cup, and a white cup on a purple coaster; a black trash bin stands against the wall behind the table, and a right robotic arm is positioned above the white cup.", "global_instruction_dense": "The right robotic arm moves from above the white cup toward the wooden spoon on the white napkin, grasps the spoon, lifts and moves it over the gray utensil container, then releases the spoon into the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 592, "tasks": ["place spoon"], "length": 180, "global_instruction": "Take the wooden spoon out of the gray holder and place it on the black table.", "scene_description": "A black table holds a gray holder with a wooden spoon, a black brush, a clear container with metal tongs, a white napkin, a clear plastic cup, a crumpled white paper, a white cup on a purple saucer, and a small red packet; a black trash bin stands against the brown wall behind the table, and a robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic gripper moves toward the wooden spoon in the gray holder on the left of the black table, grasps the spoon, lifts it out of the holder, moves it over the table surface, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 593, "tasks": ["place spoon"], "length": 175, "global_instruction": "Pick up the light brown wooden spoon on the black table and place it next to the gray tissue box.", "scene_description": "A black table holds a gray tissue box, black plastic fork, clear container, metal tongs, light brown wooden spoon, white napkin, clear tall cup, crumpled white tissue, beige cup on a purple saucer, and a small container with orange contents. A brown wall with white framed artwork, a black trash bin with white liner, yellow support poles, and a white door are in the background, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm descends from the top right of the frame toward the wooden spoon, grasps it with its gripper, lifts it, moves leftward, and places it beside the gray tissue box on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 594, "tasks": ["place spoon"], "length": 389, "global_instruction": "Pick up the wooden spoon from the table and place it next to the tissue box on the left side of the table", "scene_description": "A black table holds a wooden spoon, black spatula, clear plastic container, metal tongs, white paper napkins, grey patterned tissue box, tall clear plastic cup, patterned paper cup on a purple saucer, and a small bowl of red food. A black trash bin with a white liner sits against the brown wall below a hanging abstract painting near a doorway.", "global_instruction_dense": "The right robotic arm enters the frame, descends toward the wooden spoon resting on the clear plastic container, grasps the spoon, lifts it, moves it leftward to the area next to the grey tissue box, releases it onto the table, then moves upward away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 595, "tasks": ["place spoon"], "length": 226, "global_instruction": "Pick up the wooden spoon on the white napkins and place it on the purple lidded container", "scene_description": "A black table is positioned against a brown wall. On the table: a wooden spoon lies on two white napkins in the foreground right, a clear container of white granular food sits in the foreground left, a purple-lidded container, metal tongs, a gray plastic cup, a white paper cup, a crumpled white napkin, and a small red container are arranged across the table surface. A black trash can with a white liner stands behind the table, a framed artwork hangs on the wall above the trash can, and wooden flooring is visible to the right of the table.", "global_instruction_dense": "The right robotic arm moves down toward the wooden spoon resting on the white napkins, grasps the spoon with its gripper, lifts it, moves leftward over the purple lidded container, lowers the spoon, and releases it onto the purple lid.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 596, "tasks": ["place spoon"], "length": 294, "global_instruction": "Place the wooden spoon from the purple plate onto the black table near the translucent cup.", "scene_description": "A black table against a brown wall holds a white snack container (bottom left), a purple plate with a wooden spoon on it, a clear plastic container, a center white napkin, a translucent cup, a small silver bowl, a small orange back-right packet, a trash bin behind the table, and a Franka robotic arm to the table's right.", "global_instruction_dense": "The right robotic gripper moves toward the wooden spoon on the left purple plate, grasps it, lifts and moves it right across the table, then lowers and releases it next to the translucent cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 597, "tasks": ["place spoon"], "length": 240, "global_instruction": "Place the wooden spoon into the plastic cup on the black table", "scene_description": "A black table holds a purple plate with small colorful items, a white napkin, a clear plastic container, a plastic cup, a small silver bowl, a wooden spoon, a small orange snack packet, and a grey trash bin with a plastic liner at the far table end; a left robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the wooden spoon on the black table, grasps it, lifts it, moves it over the plastic cup, and lowers it toward the inside of the plastic cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 598, "tasks": ["place spoon"], "length": 216, "global_instruction": "Place the wooden spoon from the grain container onto the small glass bowl.", "scene_description": "A black table holds a white paper cup, a clear square grain container with a wooden spoon inside, a lined trash bin with crumpled white paper, metal tongs on a white napkin, a small glass bowl on a red plate with small items, and a Franka Emika robotic arm at the table's right side.", "global_instruction_dense": "The left robotic arm moves toward the wooden spoon in the clear grain container, grasps it, lifts it out of the container, moves it over the small glass bowl, and places it across the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 599, "tasks": ["place spoon"], "length": 155, "global_instruction": "Pick up the wooden spoon from the glass bowl and place it on the white napkin.", "scene_description": "A black table holds a clear plastic container with white contents, a dark mug, a small glass bowl on a dark plate, a wooden spoon across the bowl, a square container with white napkins, metal tongs, a small orange packet, and a lined trash bin at the table's back left. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the wooden spoon resting on the glass bowl, grasps the spoon, lifts it, moves it over the white napkin, and places it onto the napkin.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 600, "tasks": ["place spoon"], "length": 199, "global_instruction": "Place the metal spoon into the clear plastic container on the table.", "scene_description": "A black tabletop holds a paper cup, a wooden spoon on a napkin, a metal bowl on a red plate, a clear plastic container with white napkins, a blue pen, a metal spoon, metal tongs, a small orange packet, a container of white granular material, with a black trash bin at the far end of the table and a robotic arm platform to the table's right.", "global_instruction_dense": "The left robotic arm moves from its initial position above the right side of the table toward the metal spoon, grasps the spoon, lifts it, moves it over the clear plastic container holding white napkins, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 601, "tasks": ["place spoon"], "length": 151, "global_instruction": "Place the wooden spoon into the empty clear plastic bowl on the table", "scene_description": "A black table holds a wooden spoon on a white napkin, a square clear container of light grain, an empty round clear plastic bowl, a small metal measuring cup, a red packet, a purple plate with small objects and a blue straw, a gray cup, and a utensil holder with black tools. A trash bin is behind the table, and a dual-arm robotic setup is positioned to the table's right.", "global_instruction_dense": "The left robotic arm moves down to the wooden spoon on the white napkin, grasps the spoon, lifts it, moves it left over the empty clear plastic bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 602, "tasks": ["place spoon"], "length": 109, "global_instruction": "Pick up the wooden spoon from the clear plastic bowl and place it on the black table surface.", "scene_description": "A black table holds a clear plastic bowl with a wooden spoon inside, a metal scoop, a clear container of white food, a purple plate with small food pieces, a paper cup, a utensil holder, and a black trash bin behind the table.", "global_instruction_dense": "The left robotic arm moves toward the wooden spoon in the clear plastic bowl on the black table, grasps the spoon, lifts it out of the bowl, lowers it onto the table next to the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 603, "tasks": ["place spoon"], "length": 262, "global_instruction": "Reposition the wooden spoon, blue straw, and tissue box to new locations on the black table.", "scene_description": "A black table holds a wooden spoon resting on a clear food container, a small clear container atop a red base, a crumpled white tissue, a grey square tissue box, and a transparent plastic cup. A black trash bin with a white liner is behind the table, a robotic system with a green-lit base is to the table's right, and yellow support poles and a white door are in the background.", "global_instruction_dense": "The left robotic arm moves toward the wooden spoon on the food container, grasps and places it to the right of the container, then moves to the tissue box to grasp the blue straw, pulls it out and places it next to the spoon, then grasps the tissue box and moves it leftward on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 604, "tasks": ["place spoon"], "length": 317, "global_instruction": "Place a silver metal spoon from the laundry appliance surface into the brown wicker basket.", "scene_description": "A black pot, several silver metal utensils, and a brown wicker basket holding assorted bottles are placed on the top of a white laundry appliance. A metal wire shelf with various containers is mounted on the left wall, and a robotic arm is positioned above the appliance surface.", "global_instruction_dense": "The right robotic arm moves downward toward the metal utensils on the white laundry appliance surface, grasps a silver spoon with its gripper, lifts it, moves horizontally over the brown wicker basket, and releases the spoon into the basket.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 605, "tasks": ["place spoon"], "length": 662, "global_instruction": "Place the silver spoon on the washing machine top into the open Tide box", "scene_description": "An open orange and blue Tide laundry pod box sits on a white washing machine top, with blue laundry pods in front of it, a green circular lid to its left, and a silver spoon, orange plastic tool, and small red item to its right. A metal wall shelf above holds a white spray bottle, red rectangular box, and white lidded container, with a robotic arm positioned above the right side of the washing machine.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the silver spoon on the washing machine top, lifts the spoon, moves it over the open Tide box, adjusts its position to insert the spoon into the box, releases the spoon inside the box, then moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 606, "tasks": ["place spoon"], "length": 305, "global_instruction": "Place the black spoon and orange scraper into the brown compartmentalized tray on the washing machine top.", "scene_description": "A white washing machine top holds a black spoon, orange flat scraper, brown compartmentalized tray, orange Tide laundry detergent box, and blue product box, with a white robotic arm positioned above the washing machine's control dial. A metal wire shelf on the wall above holds a green brush and perforated plastic tray, and a white light switch is mounted on the adjacent wall.", "global_instruction_dense": "The right robotic gripper moves to grasp the black spoon on the washing machine top, lifts it, moves it over the brown compartmentalized tray and releases it into the tray, then moves to grasp the orange scraper, lifts it, moves it over the tray, releases it into the tray, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 607, "tasks": ["place spoon"], "length": 378, "global_instruction": "Place the black spoon and orange spoon on the counter into the brown wooden tray.", "scene_description": "A white countertop holds a brown divided wooden tray, a black spoon, an orange spoon, a green long rod, and an orange Tide detergent box, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic gripper grasps the black spoon on the counter, lifts it and moves it into the brown wooden tray and releases it, then grasps the orange spoon on the counter, lifts it and moves it into the wooden tray and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 608, "tasks": ["place spoon"], "length": 518, "global_instruction": "Place the metal spoon from the washing machine surface onto the upper metal shelf.", "scene_description": "A white washing machine surface holds a green ridged brush, orange brush, small red object, metal spoon, blue helmet, wooden tray, and an orange and blue Tide detergent box, with an upper metal shelf on the wall behind the surface.", "global_instruction_dense": "The right robotic gripper moves toward the metal spoon on the washing machine surface, grasps it, lifts it upward, moves it to the upper metal shelf, positions it over the shelf, and releases it onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 609, "tasks": ["place spoon"], "length": 382, "global_instruction": "Place the metal spoon from the middle tier of the white side table onto the table's top tier next to the yellow plate.", "scene_description": "A white three-tiered side table stands on dark tiled floor near a glass door. Its top tier holds a yellow plate with food, middle tier holds a metal spoon, bottom tier holds a red bowl with dark food.", "global_instruction_dense": "The right robotic gripper moves downward to the middle tier of the white side table, grasps the metal spoon, pulls it out of the shelf, moves upward to the table's top tier, places the spoon on the top tier surface, then releases the spoon and moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 610, "tasks": ["place spoon"], "length": 280, "global_instruction": "Place the wooden spoon on the table into the large black bucket.", "scene_description": "A black dining table is in a home living room with a brick fireplace and white couch in the background. On the table: a large black bucket, a wooden spoon, metal forks, orange and purple plastic utensils, packaged food items, and folded white napkins. A robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm moves down toward the wooden spoon on the black table, grasps it, lifts it, moves it over the large black bucket, releases it into the bucket, then moves upward away from the bucket.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 611, "tasks": ["place spoon"], "length": 293, "global_instruction": "Take a wooden spoon from the black bucket and place it on the black table.", "scene_description": "A black table holds a black cylindrical bucket, metal forks, orange and purple plastic utensils, packaged food items, and folded white napkins. A Franka Emika robot is positioned to the right of the table, with a living room with a white couch and brick fireplace in the background.", "global_instruction_dense": "The left robotic arm moves toward the black bucket on the table, reaches inside to grasp a wooden spoon, lifts the spoon out of the bucket, moves it over the table surface, and releases it to place the spoon on the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 612, "tasks": ["place spoon"], "length": 228, "global_instruction": "Place the wooden spoon on the table into the large black bucket.", "scene_description": "A dark black table in a living room with a brick fireplace and white couch in the background holds a large black bucket, a light brown wooden spoon, silver metal forks, white folded cloths, food packages, small orange and purple plastic utensils, and a clear container with a blue lid.", "global_instruction_dense": "The left robotic arm moves downward toward the light brown wooden spoon on the table, grasps it, lifts it, moves it over the large black bucket, lowers it into the bucket, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 613, "tasks": ["place spoon"], "length": 406, "global_instruction": "Take a wooden spoon from the black bucket and place it on the black table.", "scene_description": "A black table with a centered black bucket, metal cutlery, white cloths, food packets, orange and purple small utensils, and a lidded plastic container, with a living room (beige sofa, brick fireplace) in the background and Franka Emika robotic arms on the right.", "global_instruction_dense": "The left robotic arm moves to the black bucket on the table, reaches inside to grasp a wooden spoon, lifts it out of the bucket, moves it over the table near the white cloths, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 614, "tasks": ["place spoon"], "length": 246, "global_instruction": "Place the wooden spoon on the table into the black bucket", "scene_description": "A black table holds a black bucket, metal forks, white cloth napkins, a wooden spoon, food packages, and orange/purple plastic utensils. A white robotic arm is positioned above the table, with a living room (white sofa, brick fireplace) in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the wooden spoon on the table, grasps it, lifts it, moves it over the black bucket, and releases it into the bucket.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 615, "tasks": ["place spoon"], "length": 200, "global_instruction": "Place the metal spoon into the dark cup with green interior.", "scene_description": "A black table holds a white grid-patterned cloth, a dark cup with green interior, a metal spoon, a metal fork, and a gray placemat against the wall, with a left robotic arm positioned above the placemat.", "global_instruction_dense": "The left robotic gripper moves down toward the metal spoon on the table, grasps it, lifts and moves it over the dark cup with green interior, lowers the spoon into the cup, releases it, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 616, "tasks": ["place spoon"], "length": 187, "global_instruction": "Place the spoon from the clear glass into the black mug", "scene_description": "A black table holds a white checkered cloth, a gray tray with a round brown flatbread, a clear glass with a spoon, a gray placemat with a black mug and a small green coaster, and a white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves downward to grasp the spoon in the clear glass on the black table, lifts the spoon, moves it toward the black mug, lowers it into the mug, and releases the spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 617, "tasks": ["place spoon"], "length": 184, "global_instruction": "Pick the spoon from the black mug and place it into the clear glass", "scene_description": "A black table stands against a light-colored wall. On the table, an open orange jar rests on a grey checkered mat next to a white grid cloth, a clear glass, a black mug with a spoon inside, and an orange rectangular package are arranged. A left robotic arm is above the table, a right robotic arm is on the right of the scene.", "global_instruction_dense": "The left robotic arm moves toward the black mug, grasps the spoon inside the mug, lifts the spoon, moves it over the clear glass, lowers it, and places the spoon into the clear glass.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 618, "tasks": ["place spoon"], "length": 144, "global_instruction": "Pick up the silver spoon from the black table and place it onto the brown round coaster.", "scene_description": "A black table against a white wall holds a gray cloth, folded white grid cloth, small glass with red contents, silver spoon, light-colored package, brown small pot, dark green mug, and brown round coaster. A white robotic arm is mounted to the right of the table, with a white door and tiled floor in the background.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the black table, grasps it, lifts it, moves it over the brown round coaster, lowers it, and releases the spoon onto the coaster.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 619, "tasks": ["place spoon"], "length": 181, "global_instruction": "Pick a spoon from the clear utensil container and place it into the dark green cup on the table", "scene_description": "A black table is positioned against a light wall, holding a clear utensil container, small clear glass, open orange can, dark green cup, and grey cutting mat with a standing orange packet. A white door and right robotic arm are in the background.", "global_instruction_dense": "The right robotic arm moves toward the clear utensil container, grasps a spoon from inside the container, lifts the spoon, moves it toward the dark green cup, and places the spoon into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 620, "tasks": ["place spoon"], "length": 151, "global_instruction": "Place the metal spoon from the open metal can into the black mug with green interior.", "scene_description": "A black table against a light wall holds a yellow-edged standing package, a blue-yellow can, a small white tool, a black-and-white striped bowl, a beige round lid, a green checkered cloth, an open metal can with a metal spoon inside, and a black mug with green interior. A white Franka Emika robotic arm is to the right of the table, with a white XL44 appliance to the table's left.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon in the open can on the table, grasps the spoon, lifts it, moves it over the black mug with green interior, and lowers it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 621, "tasks": ["place spoon"], "length": 288, "global_instruction": "Pick up the wooden spoon on the countertop and place it into the open drawer below the counter.", "scene_description": "A wooden countertop holds a wooden spoon, a tiered metal spice rack, a clear container of small silver items, a black remote on a gray cloth, and small glass containers. A light blue square box sits next to a white trash bin with an orange stripe at the counter's far end, and an open wooden drawer with small items inside is below the counter's right edge, with a robotic arm positioned above the counter's right side.", "global_instruction_dense": "The right robotic arm moves toward the wooden spoon on the countertop, grasps it with its gripper, lifts it, moves it over the open drawer, releases the spoon into the drawer, then retracts away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 622, "tasks": ["place spoon"], "length": 172, "global_instruction": "Pick the silver spoon from the black pot on the stovetop and place it on the checkered white cloth.", "scene_description": "A white gas stove has a black pot with a silver spoon inside on its front left burner, and a checkered white cloth on its rear right burner. A small table behind the stove holds items including a zebra-striped bowl, with a tiled floor and bicycle wheel visible to the stove's right.", "global_instruction_dense": "The right robotic arm descends toward the silver spoon in the black pot on the stovetop, grasps the spoon, lifts it out of the pot, moves it rightward over the checkered white cloth, lowers it, and releases it onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 623, "tasks": ["place spoon"], "length": 134, "global_instruction": "Place the metal spoon from the checkered cloth into the black pot on the stove.", "scene_description": "A white gas stove has a black pot on its front left burner, a checkered cloth with a metal spoon on a tray to the pot's right, and an orange-bordered instruction card propped against the stove's control panel. A small table with a striped bowl and mug sits behind the stove, a tiled area with a bicycle wheel is visible through an open doorway, and a device with green lights sits on a table at the right foreground.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the checkered cloth atop the stove tray, grasps the spoon, lifts it, moves it leftward over the black pot on the stove burner, and releases the spoon into the pot.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 624, "tasks": ["place spoon"], "length": 209, "global_instruction": "Place the metal spoon from the front black pot into the rear frying pan on the gas stove.", "scene_description": "A white gas stove has a front black pot holding a green-and-white scrub brush and metal spoon, a rear frying pan with a blue-yellow can, a glass lid, and a yellow instruction sheet propped against the stove back, with a tiled floor and partial bicycle wheel in the background.", "global_instruction_dense": "The right robotic arm moves down toward the metal spoon inside the front black pot on the stove, grasps the spoon, lifts and moves it to the rear frying pan, lowers and releases the spoon into the pan, then lifts away from the pan.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 625, "tasks": ["place spoon"], "length": 220, "global_instruction": "Pick up the silver spoon from the table, place it into the open drawer, then close the drawer.", "scene_description": "A wooden table holds a silver spoon, a red-capped bottle, a clear glass with a green indicator, a metal measuring cup, and a brown paper bag at the back. An open wooden drawer sits to the right of the table, a robotic arm is at the top right, a green glowing device is at the bottom right, and a plaid surface with a laundry basket is in the background.", "global_instruction_dense": "The right robotic gripper moves toward the silver spoon on the wooden table, grasps the spoon, lifts and moves it over the adjacent open wooden drawer, releases the spoon into the drawer, pushes the drawer fully closed, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 626, "tasks": ["place spoon"], "length": 363, "global_instruction": "Place the spoon from the tangled wire tray on the sofa into the striped bowl on the sofa arm.", "scene_description": "A dark sofa holds a striped light gray, dark gray, and white cushion, a brown and yellow striped bowl on the sofa arm next to white horizontal window blinds, a gray tray with tangled wires on the sofa seat, and a desk with assorted items in the background, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves downward from its initial raised position to the gray tray of tangled wires on the sofa, grasps a spoon, lifts it, moves toward the brown and yellow striped bowl on the sofa arm, lowers the spoon into the bowl, releases it, then moves back upward to its original position.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 627, "tasks": ["place spoon"], "length": 228, "global_instruction": "Take the metal spoon out of the measuring jug and place it behind the seasoning rack.", "scene_description": "A wooden kitchen counter holds a white plastic measuring jug with a metal spoon inside, metal measuring cups to the jug's left, a red-capped spice container to the jug's right, and a multi-tier metal seasoning rack behind the jug. A green-lit coffee machine sits on the right counter edge, with a curtained doorway in the background.", "global_instruction_dense": "The left robotic gripper moves down toward the metal spoon in the white plastic measuring jug, grasps the spoon, lifts it out of the jug, moves it backward, and places it behind the metal seasoning rack on the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 628, "tasks": ["place spoon"], "length": 197, "global_instruction": "Place the metal spoon on the ironing board into the clear glass.", "scene_description": "A blue ironing board sits in a bedroom, with a beige quilted pot holder, clear glass, metal spoon, and light blue cloth on its surface. To its left is a wooden nightstand with a silver table lamp, white iron, and small dark object next to a bed with blue and white plaid bedding, and a white robotic arm is positioned to the right of the ironing board.", "global_instruction_dense": "The right robotic arm moves downward toward the metal spoon on the ironing board, grasps and lifts the spoon, moves it over the clear glass, releases the spoon into the glass, then lifts away from the glass.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 629, "tasks": ["place spoon"], "length": 343, "global_instruction": "Place the metal spoon from the ironing board into the clear glass cup.", "scene_description": "A blue ironing board is set up in a bedroom. On the ironing board, there is a light brown quilted pot holder in the foreground, a clear glass cup, a metal spoon, and a light blue cloth at the far end. To the left of the board is a bed with blue and white plaid bedding next to a wooden nightstand holding a beige-shaded lamp, a small white iron, and a black small device. A white robotic arm is positioned to the right of the ironing board.", "global_instruction_dense": "The right robotic gripper moves toward the metal spoon on the ironing board, grasps it, lifts the spoon, moves it over the clear glass cup, lowers it, and releases the spoon into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 630, "tasks": ["place spoon"], "length": 310, "global_instruction": "Take the silver spoon out of the transparent glass and place it on the blue ironing board.", "scene_description": "A blue ironing board is in a bedroom, with a transparent glass holding a silver spoon, a beige quilted heat pad, and a small white cloth on it; a wooden nightstand with a table lamp, small iron and dark small device sits left of the ironing board next to a checkered bed, with a white robotic arm positioned right of the ironing board.", "global_instruction_dense": "The right robotic arm moves toward the transparent glass on the ironing board, lowers its gripper to grasp the silver spoon inside the glass, lifts the spoon out of the glass, moves it over the ironing board, and releases the spoon onto the ironing board surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 631, "tasks": ["place spoon"], "length": 182, "global_instruction": "Take the black spoon out of the clear glass and place it on the blue ironing board.", "scene_description": "A blue ironing board holds a light blue cloth, a clear glass with a black spoon inside, and a beige quilted heat pad. A wooden nightstand with a table lamp, small iron, and small black device sits to the left of the ironing board next to a plaid bed, and a white robotic arm is positioned to the right of the ironing board.", "global_instruction_dense": "The right robotic arm moves toward the clear glass on the ironing board, grasps the black spoon inside the glass, lifts the spoon out of the glass, moves it over the ironing board surface, lowers the spoon, releases it onto the board, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 632, "tasks": ["place spoon"], "length": 432, "global_instruction": "Place the beige quilted pad over the light blue measuring cup, then place the metal spoon on top of the pad.", "scene_description": "A blue ironing board holds a beige quilted square pad, a light blue plastic measuring cup, a metal spoon, and a tray of food. To the left of the board is a bed with plaid bedding and a wooden nightstand with a table lamp and small iron, with a white robotic arm positioned to the right of the board.", "global_instruction_dense": "The right robotic arm grasps the beige quilted pad from the blue ironing board, lifts and places it over the opening of the light blue measuring cup, then grasps the metal spoon from the board, lifts and places it on top of the pad covering the cup, before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 633, "tasks": ["place spoon"], "length": 213, "global_instruction": "Pick up the white plastic spoon and place it near the empty striped paper bowl.", "scene_description": "A white table holds two printed paper cups (one containing a yellow packet), a black snack bag with a yellow label, two blue-and-white striped paper bowls (one filled with popcorn, one empty), a white plastic spoon, and scattered popcorn pieces, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper extends toward the white plastic spoon on the table, grasps it, lifts it, moves it to a position near the empty striped paper bowl, and places it down on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 634, "tasks": ["place spoon"], "length": 500, "global_instruction": "Place the white plastic spoon into the frontmost patterned paper cup.", "scene_description": "A white countertop sits against a gray tiled wall. Two tall stacks of white patterned paper cups are positioned near the wall, two separate matching patterned paper cups are in front of the stacks, a white plastic spoon lies on the counter to the right of the separate cups, and a robotic arm is at the right edge of the scene.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the countertop, grasps it, lifts and moves it above the front patterned paper cup, releases the spoon into the cup, then retracts away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 635, "tasks": ["place spoon"], "length": 182, "global_instruction": "Place the wooden spoon on the counter into the small white coffee cup", "scene_description": "A white countertop sits in front of a light gray tiled backsplash with electrical outlets. On the counter, there is a white napkin holder, a small white dish with dark contents, a patterned tumbler with a white lid, two stacks of disposable paper cups on a white tray, a light wooden spoon, and a small white coffee cup on a saucer, with electronics on the far right.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the wooden spoon on the counter, grasps it, lifts it, moves it over the small white coffee cup, lowers it into the cup, releases the spoon, and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 636, "tasks": ["place spoon"], "length": 159, "global_instruction": "Place the light blue spoon from the beige box into the white patterned cup.", "scene_description": "A round dark wooden table next to a window holds a white potted plant, a white patterned cup, a light beige rectangular box with a light blue spoon inside, a blue bowl with colorful cereal, a small orange cube, and a small seasoning bottle with a brown cap. Gray cushioned chairs surround the table, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the light blue spoon inside the beige box on the table, grasps the spoon, lifts it, moves it over the white patterned cup, and releases the spoon to drop it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 637, "tasks": ["place spoon"], "length": 244, "global_instruction": "Place the light blue spoon from the blue bowl into the white paper cup", "scene_description": "A round wooden table sits next to windows, holding a white potted plant near the window, a white patterned paper cup, a small jar with a brown lid, a light wooden ruler, a blue bowl with colorful contents and a light blue spoon inside, and a small white box behind the bowl. A robotic arm is positioned to the right of the table, with grey chairs around the table.", "global_instruction_dense": "The right robotic arm moves toward the blue bowl on the table, grasps the light blue spoon inside the bowl, lifts the spoon, moves it toward the white paper cup, and releases the spoon, causing the paper cup to tip over.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 638, "tasks": ["place spoon"], "length": 402, "global_instruction": "Stir the colorful beads in the bowl, then move the white spoon and place it on the table.", "scene_description": "A round dark brown wooden table next to a window holds a light yellow open square box on the left, a small light blue measuring scoop near the center, a white printed paper cup, a white napkin, a yellow bowl with blue interior filled with colorful small beads, small bottles, and a green potted plant by the window ledge. A right robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves from its position to the right of the table to the bowl of colorful beads, inserts its gripper to stir the beads, lifts the gripper, moves to grasp the white plastic spoon next to the napkin, lifts and moves the spoon above the table, then lowers it to place the spoon back on the table near the napkin.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 639, "tasks": ["place spoon"], "length": 355, "global_instruction": "Pick up the white spoon from near the napkins and place it on the table next to the bead bowl.", "scene_description": "A dark round wooden table is positioned next to a window. On the table: a pale yellow empty square box, a white patterned paper cup, a stack of white napkins, a yellow bowl with blue interior holding multicolored beads, a small light blue scoop. Near the window edge: a potted green plant, a clear glass jar, and small colored containers. A right robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm first moves toward the bead bowl, then shifts to the stack of napkins, grasps the white spoon adjacent to the napkins, lifts and moves the spoon across the table toward the bead bowl, then releases the spoon onto the table surface next to the bowl before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 640, "tasks": ["place spoon"], "length": 243, "global_instruction": "Move the white plastic spoon from the right side of the table to the area next to the small light blue measuring cup.", "scene_description": "A round dark wooden table is positioned next to a window. On the table: a white open box is on the left, a jar with a purple lid, small green and red blocks are near the window edge, a white patterned cup, yellow bowl, small light blue measuring cup, and white plastic spoon are arranged on the table, with a blue bowl filled with multicolored small beads at the center. A right robotic arm is located to the right of the table, and a potted plant sits on the windowsill.", "global_instruction_dense": "The right robotic arm moves downward toward the white plastic spoon on the right side of the table, closes its gripper to grasp the spoon, lifts the spoon, moves it leftward to the space between the blue bead bowl and the small light blue measuring cup, lowers the spoon to the table, releases its gripper to place the spoon, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 641, "tasks": ["place spoon"], "length": 362, "global_instruction": "Place the white plastic spoon into the white printed paper cup on the table.", "scene_description": "A round dark wooden table sits next to a window, with a blue bowl of colorful cereal at its center, a white open rectangular box left of the bowl, a yellow bowl at the table's back, a white printed paper cup right of the blue bowl, small items including a green cylinder, red block, glass jar, tiny blue bowl, napkins, and white plastic spoon scattered on the table, and a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white paper cup, knocks it over, uprights the cup, then grasps the white plastic spoon, lifts it, and places it into the upright paper cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 642, "tasks": ["place spoon"], "length": 149, "global_instruction": "Place the white plastic spoon from the table into the white cup.", "scene_description": "A round dark wooden table sits beside a window with a potted green plant on the sill. On the table: a pale yellow open box is on the left, a blue bowl of multicolored small pieces is centered, a plain white cup, yellow bowl, and white plastic spoon are to the right of the blue bowl, with small red/green blocks and a lidded glass jar near the window edge. A right robotic arm is positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoon on the table, grasps and lifts it, moves it over the white cup, releases the spoon into the cup, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 643, "tasks": ["place spoon"], "length": 204, "global_instruction": "Place the white spoon from the small white bowl into the patterned cup.", "scene_description": "A white kitchen countertop holds a black and white calibration board, a wooden spoon, a cup with brown liquid, a gray napkin holder, a dark blue bowl with small items, a patterned cup, a small white bowl holding a white spoon, a stack of white cups in a holder, a small clear glass on a white saucer, and a right robotic gripper on the right side.", "global_instruction_dense": "The right robotic gripper moves toward the small white bowl on the countertop, grasps the white spoon inside the bowl, lifts the spoon, moves it toward the adjacent patterned cup, lowers the spoon, and releases it into the patterned cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 644, "tasks": ["place spoon"], "length": 147, "global_instruction": "Pick the spoon from the dark blue bowl and place it into the patterned glass cup.", "scene_description": "A white kitchen counter holds a black-and-white checkered calibration mat on the left, a light wooden spoon, a white cup with brown liquid, a gray napkin holder, a dark blue bowl, a patterned glass cup, a small white bowl, two stacked columns of disposable paper cups, a small white dish with a black object inside, and a dark water bottle on the far right edge.", "global_instruction_dense": "The right robotic arm moves toward the dark blue bowl on the counter, grasps the small spoon inside the bowl, lifts the spoon, moves it to the patterned glass cup, places the spoon into the cup, then retracts away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 645, "tasks": ["place spoon"], "length": 139, "global_instruction": "Pick up the wooden spoon and place it into the dark blue bowl on the countertop", "scene_description": "A white kitchen countertop has a black-and-white calibration board on the left, a napkin holder, a small black clip, a light wooden spoon, a dark blue bowl, a small dish with yellow and blue items, a small white bowl, two stacks of paper cups in a holder, a patterned cup, and a dark water bottle on the far right, with a robotic arm at the right edge.", "global_instruction_dense": "The right robotic arm moves toward the light wooden spoon on the countertop, grasps it, lifts it, moves it over the dark blue bowl, lowers it into the bowl, releases the spoon, then retracts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 646, "tasks": ["place spoon"], "length": 138, "global_instruction": "Pick up the wooden spoon from the dark blue plate and place it next to the small white dish with yellow food.", "scene_description": "A white kitchen countertop holds a black and white calibration grid on the left, a stack of white napkins, a patterned cup with dark contents, a dark blue plate with a wooden spoon on it, a small white dish with yellow food, a small blue cap, and two tall stacks of white disposable cups at the back, with a tiled wall with switches and outlets behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the wooden spoon resting on the dark blue plate, grasps the spoon with its gripper, lifts it, moves it rightward over the counter to the area beside the small white dish holding yellow food, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 647, "tasks": ["place spoon"], "length": 158, "global_instruction": "Remove a spoon from the patterned cup and place it onto the dark blue plate.", "scene_description": "A white kitchen counter holds a black-and-white ArUco calibration board on the left, a white napkin holder next to it, a patterned cup with dark contents and a spoon inside at the center, a dark blue plate to the right of the cup, plus a white bowl, stacked disposable paper cups, and wooden utensils in the background, with a right robotic arm positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the patterned cup on the kitchen counter, grasps the spoon inside the cup, lifts the spoon out, moves it over the adjacent dark blue plate, and releases the spoon onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 648, "tasks": ["place spoon"], "length": 153, "global_instruction": "Place the wooden spoon on the kitchen counter into the blue bowl", "scene_description": "A white kitchen counter holds a black-and-white calibration board (left), a stack of white napkins, two white plastic lids, a black pen, a green tube, a patterned drinking cup, a small white bowl, a wooden spoon, a small white saucer, and a blue bowl (right). The right robotic gripper is positioned above the blue bowl.", "global_instruction_dense": "The right robotic gripper moves leftward from above the blue bowl toward the wooden spoon resting on the counter, grasps the wooden spoon, lifts it, moves it rightward over the blue bowl, and releases the spoon into the blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 649, "tasks": ["place spoon"], "length": 345, "global_instruction": "Place the wooden spoon from the small white bowl onto the adjacent small white dish.", "scene_description": "A white kitchen countertop against a gray tiled wall holds a black-and-white calibration board on the left, a stack of white napkins next to the board, two white lids, a dark blue bowl, a patterned cup with a green item inside, a small white bowl with a wooden spoon resting on its edge, two stacks of white disposable cups against the wall, and a small round white dish to the right of the small bowl.", "global_instruction_dense": "The right robotic arm moves toward the wooden spoon on the small white bowl, grasps the spoon, lifts it, moves it rightward over the small white dish, lowers it, releases the spoon onto the dish, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 650, "tasks": ["place spoon"], "length": 130, "global_instruction": "Place the light wooden spoon from the small white dish into the dark blue bowl", "scene_description": "A white kitchen counter has a black-and-white calibration grid on the left, a stack of white napkins beside it, two small white lids, a patterned cup, a dark blue bowl, a small white bowl, a small white dish with a light wooden spoon and a yellow item, and two tall stacks of white paper cups at the back right. A right robotic gripper is at the top right of the counter initially.", "global_instruction_dense": "The right robotic gripper moves from the top right of the counter toward the light wooden spoon on the small white dish, grasps the spoon, lifts it, moves it left over the dark blue bowl, and releases the spoon into the dark blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 651, "tasks": ["place spoon"], "length": 124, "global_instruction": "Place the wooden spoon from the dark blue bowl onto the white paper towel on the counter.", "scene_description": "A white kitchen counter holds a black-and-white calibration grid on the left, a stack of white napkins, two small white lids, an upright patterned cup with dark contents, a dark blue bowl with a wooden spoon on its edge, a small white bowl, a tiny plate with a green item, two stacks of white paper cups at the back, and a right robotic arm at the right counter edge.", "global_instruction_dense": "The right robotic arm moves left toward the dark blue bowl, contacts the bowl accidentally knocking over the adjacent patterned cup, dislodges the wooden spoon from the bowl, and pushes it onto the white paper towel on the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 652, "tasks": ["place spoon"], "length": 175, "global_instruction": "Place the wooden spoon on the countertop into the blue-rimmed bowl.", "scene_description": "A white kitchen countertop has a black-and-white calibration board at the left, a gray paper napkin holder, a black marker, a blue-rimmed bowl with food inside, a wooden spoon next to the bowl, a patterned cup, two stacks of white disposable cups, and a small black-capped container, with a robotic arm positioned at the right of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the wooden spoon on the countertop, grasps it, lifts it, moves it over the blue-rimmed bowl, and releases it to rest across the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 653, "tasks": ["place spoon"], "length": 177, "global_instruction": "Pick up the white spoon from the blue bowl and place it into the patterned cup.", "scene_description": "A white kitchen counter has a central stainless steel sink with a white mug (red interior and handle) inside it. To the sink's left is a white paper towel roll; to its right are a clear spray bottle, green-capped bottle, two patterned cups, and a blue bowl with white interior, with a robotic arm at the far right edge.", "global_instruction_dense": "The right robotic arm lowers toward the blue bowl to the right of the sink, grasps the white spoon inside the bowl, lifts the spoon, moves it left toward the two patterned cups, lowers the spoon, and places it into one of the patterned cups.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 654, "tasks": ["place spoon"], "length": 508, "global_instruction": "Reposition the white spoon on the kitchen counter, placing it first into the dark blue bowl then near the small white cup.", "scene_description": "A white kitchen counter holds a dark blue bowl, a white mug with red interior and red handle, a small white cup on a white saucer, a patterned white cup, a small dish with food, and a plain white bowl. To the left of the counter is a stainless steel sink with a clear spray bottle, blue cleaning cloth, silver shaker, and clear plastic bottle with a green cap. A robotic arm is positioned at the top right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white spoon on the kitchen counter, grasps it, moves it over the dark blue bowl, places it inside the bowl, adjusts its position, lifts the spoon out, moves it to the area next to the small white cup on its saucer, releases it on the counter, and moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 655, "tasks": ["place spoon"], "length": 184, "global_instruction": "Place the small white spoon into the white mug with red interior.", "scene_description": "A white kitchen countertop has a stainless steel sink on its left edge, alongside a clear spray bottle, blue cloth, silver shaker, green-capped clear bottle, dark blue bowl, small white cup, small white plate, white mug with red interior and handle, small snack bowl, small blue object, napkin holder, patterned white cup, paper towel roll, and a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves downward to grasp the small white spoon on the countertop, lifts the spoon, moves it over the white mug with red interior, releases the spoon into the mug, then moves upward away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 656, "tasks": ["place spoon"], "length": 169, "global_instruction": "Move a spoon from the white mug with red interior to the adjacent plain white bowl.", "scene_description": "A white kitchen countertop holds a clear spray bottle, blue sponge, small metal shaker on a left ledge, green-capped clear plastic bottle, dark blue bowl, white patterned paper cup, two stacks of white napkins, small white bowl, white mug with red interior and red handle on a white paper towel, plain white bowl, clear plastic lids, small yellow and red packets, wooden spoon, small black components, small blue cylinder, against a gray tiled wall with outlets and switches, with a robotic arm on the counter's right side.", "global_instruction_dense": "The right robotic arm moves toward the white mug with red interior, grasps the spoon inside the mug, lifts the spoon out, moves it over the nearby plain white bowl, lowers the spoon into the bowl, releases the spoon, and moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 657, "tasks": ["place spoon"], "length": 215, "global_instruction": "Place the white spoon from the blue bowl onto the blue-and-white patterned paper plate.", "scene_description": "A dark round wooden table is surrounded by dark cushioned stools. On the table: a beige tray holding a white patterned cup at left, a yellow bowl with a small spice jar inside next to the tray, a blue bowl with colorful food and a white spoon further right, a blue-and-white patterned paper plate with two white utensils at the right side of the table. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the blue bowl on the table, grasps the white spoon inside the bowl, lifts the spoon, moves it over the blue-and-white patterned paper plate, lowers it, and releases the spoon onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 658, "tasks": ["place spoon"], "length": 202, "global_instruction": "Place the light blue spoon on the table into the blue bowl.", "scene_description": "A dark brown round table holds a beige box with a patterned white cup inside, a yellow bowl with a small spice jar, a blue bowl with colorful contents, a paper plate with white plastic utensils, and a light blue spoon, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the light blue spoon on the round wooden table, grasps it, lifts it, moves it over the blue bowl containing colorful small items, and releases the spoon into the blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 659, "tasks": ["place spoon"], "length": 219, "global_instruction": "Place the light blue spoon from the blue bowl into the yellow bowl", "scene_description": "A dark brown round table holds a clear frosted cup, a blue bowl with a light blue spoon and colorful granular contents, a yellow bowl with stacked orange and green blocks, a white napkin, a small spice jar, and a light beige open box. A robotic gripper is at the top frame edge, with a white robotic arm base on the right.", "global_instruction_dense": "The right robotic gripper descends toward the blue bowl on the table, grasps the light blue spoon inside it, lifts the spoon, moves it over the yellow bowl, then releases the spoon into the yellow bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 660, "tasks": ["place spoon"], "length": 331, "global_instruction": "Place white spoons into the patterned paper cups on the kitchen counter.", "scene_description": "A grey tiled kitchen counter holds a green-capped clear plastic bottle, dark blue bowl, white napkin dispenser, brown napkin holder, three white patterned paper cups, a purple-white patterned small plate, and a keyboard, with a right robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white spoon, lifts it and places it into a patterned paper cup, then grasps another white spoon, lifts it and places it into another patterned paper cup, before moving upward away from the cups.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 661, "tasks": ["place spoon"], "length": 271, "global_instruction": "Place white plastic spoons from paper cups into other paper cups on the kitchen counter.", "scene_description": "A white kitchen counter with a grey tiled backsplash holds a green-capped clear plastic bottle, a blue bowl, three patterned white paper cups, a white napkin holder, a small black object, and a white keyboard. A robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp a white plastic spoon from a paper cup, moves it to another paper cup and releases it inside, then moves to grasp a white plastic spoon from a paper cup, moves it to a different paper cup and releases it inside.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 662, "tasks": ["place spoon"], "length": 154, "global_instruction": "Place the white spoon from the yellow bead bowl into the white mug", "scene_description": "A round wooden table by a window holds a yellow bowl of colorful beads with a white spoon inside, a blue bowl with a patterned cup behind it, a white mug to the right of the yellow bowl, a white napkin to the left of the yellow bowl, scattered beads on the table, and a robotic arm mounted to the right of the table.", "global_instruction_dense": "The left robotic gripper moves toward the white spoon inside the yellow bowl of colorful beads, grasps the spoon, lifts it, moves it over the white mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 663, "tasks": ["place spoon"], "length": 181, "global_instruction": "Place the white spoon from the white pitcher onto the white napkin on the table.", "scene_description": "A round dark wooden table is positioned beside a window. On the table, there is a yellow bowl filled with colorful granular material and a metal scoop, a black-and-white patterned plate with a white spoon, a blue bowl holding a white patterned cup, a white pitcher with a spoon inside, a stack of plates, and a white napkin. A robotic arm is mounted on the right side adjacent to the table.", "global_instruction_dense": "The left robotic gripper moves toward the white pitcher on the table, grasps the white spoon inside the pitcher, lifts the spoon, moves it over the white napkin on the left side of the table, lowers and releases the spoon onto the napkin, then lifts back up away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 664, "tasks": ["place spoon"], "length": 395, "global_instruction": "Place the white plastic spoons into the yellow cereal bowl", "scene_description": "A round wooden table near a window holds a white patterned paper cup, a plain white mug, a blue bowl, a yellow bowl of colorful cereal with a metal spoon inside, a white napkin with a white plastic spoon on top, and a small beige utensil box. A white Franka robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves to the white plastic spoon on the napkin, grasps and lifts it, moves it over the yellow cereal bowl and releases it, then moves to the beige utensil box, grasps a white plastic spoon, lifts it, moves it over the yellow cereal bowl and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 665, "tasks": ["place spoon"], "length": 362, "global_instruction": "Pick the white plastic spoon from the yellow cereal bowl and place it on the wooden table.", "scene_description": "A round dark wooden table by a window holds a yellow bowl of multicolored cereal with a long metal spoon and short white plastic spoon inside it, a white patterned paper cup, a plain light gray cup, stacked blue and white bowls, a beige box with a green scoop, and white napkins, with a robotic arm base to the right of the table.", "global_instruction_dense": "The left robotic arm moves down toward the yellow cereal bowl, grasps the white plastic spoon inside the bowl, lifts and moves the spoon over the empty table surface next to the bowl, then lowers and releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 666, "tasks": ["place spoon"], "length": 228, "global_instruction": "Pick a white spoon from the blue bowl and place it next to the yellow bowl on the table.", "scene_description": "A round dark wooden table sits next to a window. On the table are a white patterned paper cup, white ceramic pitcher, blue bowl, yellow bowl with colorful pieces and a metal spoon inside, white napkin, small white box with a teal scoop, small brown jar, and a white plastic spoon. The left robotic gripper is positioned above the upper right of the table, while the right robotic gripper is stationary on the far right edge.", "global_instruction_dense": "The left robotic arm moves down toward the blue bowl, grasps a white spoon inside the bowl, lifts the spoon, moves it rightward to the area next to the yellow bowl, lowers and releases the spoon onto the table, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 667, "tasks": ["place spoon"], "length": 248, "global_instruction": "Pick up the metal spoon from the yellow bead bowl and place it on the wooden table.", "scene_description": "A round wooden table sits next to a window with blinds. On the table: a yellow bowl of colorful beads with a metal spoon inside, a blue bowl, a white pitcher, a white napkin, white utensils, a small utensil box, and a small bottle. A robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon in the yellow bead bowl, grasps the spoon, lifts it out of the bowl, moves it over the table next to the yellow bowl, lowers it onto the table, releases the spoon, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 668, "tasks": ["place spoon"], "length": 364, "global_instruction": "Scoop contents from the yellow bowl with a white spoon, place the spoon in the blue bowl, then place another white spoon on the table.", "scene_description": "A round dark wooden table is next to a window with light blinds. On the table, there is a roll of white paper towels, a white patterned cup, a blue bowl, a yellow bowl with colorful contents, two white spoons, a long metal utensil, a small brown bottle, a small pink container, a white napkin, and a light blue spoon in a small rectangular box. A robotic arm is on the right side of the scene.", "global_instruction_dense": "The right robotic arm grasps a white spoon from the table, scoops contents from the yellow bowl, places the spoon into the blue bowl, then grasps another white spoon and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 669, "tasks": ["place spoon"], "length": 189, "global_instruction": "Reposition the metal spoon resting on the edge of the yellow bowl.", "scene_description": "A dark brown round wooden table is positioned next to a window with light beige roller blinds. On the table are a white paper cup, a white cylindrical roll, a small brown spice container, a white patterned dish, a blue bowl with small colorful contents, a yellow bowl with colorful contents and a white plastic spoon inside, a white square napkin, and a metal spoon resting across the edge of the yellow bowl. A right robotic arm is above the yellow bowl.", "global_instruction_dense": "The right robotic arm grasps the metal spoon on the yellow bowl, lifts it, moves it over the table near the white napkin, then moves it back and places it on the edge of the yellow bowl before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 670, "tasks": ["place spoon"], "length": 210, "global_instruction": "Place the long metal spoon between the two cereal bowls onto the left edge of the wooden table", "scene_description": "A round wooden table sits below a window with a white roller blind. On the table, a white mug is on the left, a yellow bowl with colorful cereal and a white spoon is next to the mug, a blue bowl with colorful cereal is to the right of the yellow bowl, a long metal spoon rests between the two bowls, a white plastic fork is beside the blue bowl, a small open box is behind the yellow bowl, and a patterned napkin is behind the mug. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the long metal spoon between the yellow and blue cereal bowls, grasps the spoon, lifts it, carries it to the left edge of the wooden table, releases it there, and retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 671, "tasks": ["place spoon"], "length": 165, "global_instruction": "Place the white plastic spoon from the yellow bowl into the patterned white cup.", "scene_description": "A round wooden table is next to a window with white blinds. On the table: a white mug sits left, a long silver spoon is near the mug, a yellow bowl with colorful beads and a white plastic spoon inside is centered, a small open box is next to the yellow bowl, a patterned white cup is behind the box, a blue bowl with colorful beads is at the lower right, a small bottle with a brown cap sits on white paper below the blue bowl, and a robotic arm is at the upper right above the table.", "global_instruction_dense": "The right robotic arm moves down toward the yellow bowl, grasps the white plastic spoon inside the bowl, lifts the spoon, moves it over the patterned white cup, lowers the spoon into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 672, "tasks": ["place spoon"], "length": 162, "global_instruction": "Place the white plastic spoon on the table into the printed paper cup.", "scene_description": "A round wooden table sits next to a window with a white roller shade. On the table, there is a white mug, a yellow bowl of multicolored beads, a blue bowl of multicolored beads, a long metal spoon, a small bottle with a brown cap, a patterned cloth, a small open storage box, a light blue scoop, a white plastic spoon, and a printed paper cup. A right robotic gripper is positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the white plastic spoon next to the blue bead bowl, lifts the spoon, moves it toward the printed paper cup at the back of the table, lowers the spoon into the cup, then releases the spoon and retracts upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 673, "tasks": ["place spoon"], "length": 149, "global_instruction": "Remove the white spoon from the blue bowl and place it on the kitchen counter.", "scene_description": "A white kitchen counter against grey tiled walls holds two patterned paper cups on the left, a blue bowl containing a white spoon to the right of the cups, a glass coffee dripper, black coffee grinder, and purple patterned bowl further back, with sinks at the far end of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the blue bowl on the kitchen counter, grasps the white spoon inside the bowl, lifts the spoon out of the bowl, places it on the counter surface adjacent to the bowl, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 674, "tasks": ["place spoon"], "length": 156, "global_instruction": "Move the white plastic spoon from the patterned paper plate to the adjacent kitchen counter.", "scene_description": "A white kitchen counter holds a black coffee grinder, glass pour-over coffee carafe, small white lid, blue small cap, blue-and-white patterned paper plate with coffee beans and a white plastic spoon, white patterned cup, blue bowl, stainless steel kettle, and a black sink with faucet against a grey tiled backsplash, with no robot arm visible initially.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves toward the white plastic spoon on the blue-and-white patterned plate holding coffee beans, grasps the spoon, lifts it from the plate, places it on the white counter next to the plate, then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 675, "tasks": ["place spoon"], "length": 182, "global_instruction": "Pick up the white plastic spoon and place it next to the other white plastic spoon on the counter.", "scene_description": "A white kitchen countertop against a gray tiled backsplash holds a left-side white bowl, two patterned paper cups, a small blue center cylinder, two more patterned paper cups (one lidded), a black coffee grinder with silver hopper, a glass pour-over carafe on a black scale, a dark blue bowl, a blue-white patterned plate, two separate white plastic spoons, and a far-right sink with faucet.", "global_instruction_dense": "The right robotic gripper enters from the right side of the scene, grasps a white plastic spoon near the paper cups, lifts it, moves left to the position of the other white plastic spoon, lowers and releases the spoon next to it, then retracts out of the scene.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 676, "tasks": ["place spoon"], "length": 221, "global_instruction": "Pick the spoon from the white patterned bowl and place it into the white cup on the blue bowl.", "scene_description": "A dark round coffee table by a window holds a white patterned bowl, a blue yellow-rimmed bowl, and a beige tissue box. A small potted plant sits on a dark grey L-shaped sofa to the table's right, and a brown blanket rests on the foreground sofa arm.", "global_instruction_dense": "The right robotic arm enters the frame from above, lowers to the white patterned bowl on the coffee table to grasp the small spoon inside, lifts the spoon, moves it over the white cup resting on the blue yellow-rimmed bowl, lowers the spoon into the cup, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 677, "tasks": ["place spoon"], "length": 197, "global_instruction": "Pick up the white plastic spoon on the counter and place it into the upright printed paper cup.", "scene_description": "A light-colored cafe counter holds a plate with food, a leaning printed paper cup, a white plastic spoon, a small white lid, stacked disposable cups, two upright printed cups, and coffee equipment; a snack shelf is on the counter's left, and a white robotic arm is at the counter's right edge.", "global_instruction_dense": "The left robotic gripper moves from above the plate toward the white plastic spoon, grasps and lifts the spoon, carries it to the upright printed paper cup, inserts the spoon into the cup, then releases the spoon and moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 678, "tasks": ["place spoon"], "length": 427, "global_instruction": "Place the light blue spoon from the yellow bowl into the blue bowl.", "scene_description": "A dark brown round table by a window holds a yellow bowl with colorful small items and a light blue spoon inside, a blue bowl behind the yellow bowl, a white cup on the left of the table, several small containers including a tall blue-and-white container, a small bottle with red cap, a patterned cup, and a robotic arm is at the right side of the table.", "global_instruction_dense": "The right robotic arm grasps the light blue spoon in the yellow bowl, lifts it, moves it over the blue bowl behind the yellow bowl, adjusts the spoon's position multiple times, releases the spoon into the blue bowl, then moves the arm away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 679, "tasks": ["place spoon"], "length": 123, "global_instruction": "Place the white plastic spoon from the patterned paper cup into the stainless steel milk pitcher.", "scene_description": "A white countertop has wooden snack and tea racks on the left, stacked paper cups, a coffee pod holder, a stainless steel milk pitcher on a white plate, a patterned paper cup with a white plastic spoon inside to the plate's right, yellow and red sachets on the counter, and a coffee machine at the far right.", "global_instruction_dense": "The right robotic gripper moves toward the patterned paper cup on the counter, grasps the white plastic spoon inside it, lifts the spoon, moves it left over the stainless steel milk pitcher on the white plate, lowers the spoon, and releases it into the pitcher.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 680, "tasks": ["place spoon"], "length": 184, "global_instruction": "Place a black measuring spoon at a new position next to the other measuring spoons on the kitchen counter.", "scene_description": "A wooden kitchen counter holds a small black oven with a clear glass kettle on top, a light green lying cup, white lidded cup, black lid, blue spray bottle, white bowl on a white saucer, white paper, two black measuring spoons on the right, and a robotic arm at the right edge. The background has a white sink, white cabinets, a window with bottles on its sill, black stove, white dishwasher, and a glass door on the right.", "global_instruction_dense": "The right robotic arm moves down toward the black measuring spoons on the right of the wooden kitchen counter, grasps one measuring spoon, lifts and repositions it, then releases it onto the counter near the other measuring spoons.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 681, "tasks": ["place spoon"], "length": 263, "global_instruction": "Pick up one dark measuring spoon on the kitchen island and place it next to the other dark measuring spoon.", "scene_description": "A wooden kitchen island holds a black toaster oven with a glass kettle on top, a tilted light green cup, a white lidded cup, a white bowl on a white saucer, a clear spray bottle, two dark measuring spoons on the right, and small items on the left. The background has white cabinets, a sink under a window, a stove, and a glass door to the right.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves toward a dark measuring spoon on the right of the kitchen island, grasps it, moves it left to place it beside the other dark measuring spoon, then lifts and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 682, "tasks": ["place spoon"], "length": 178, "global_instruction": "Move a black measuring spoon on the kitchen island to a new position on the same counter.", "scene_description": "A wooden kitchen island counter holds a black toaster oven with a glass water kettle on top, a tipped-over light blue cup, a white lidded travel mug, a white bowl on a white saucer, two black measuring spoons, a clear blue spray bottle, a black can opener, a dark blue lid, a small green container, and white paper towels. A white sink under a window, white cabinets, a black stove, and a glass exterior door are in the background.", "global_instruction_dense": "The right robotic gripper enters from the right of the frame, lowers to grasp a black measuring spoon on the right side of the kitchen island, lifts it, moves it to a new position closer to the other black measuring spoon, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 683, "tasks": ["place spoon"], "length": 419, "global_instruction": "Place black spoons onto the white plate atop the toaster oven and into the small white bowl on the kitchen island", "scene_description": "A wooden kitchen island counter holds a stained white cloth, a white disposable cup, a small white bowl, a stack of light blue cups, a clear kettle with a black handle, a dark toaster oven with a white plate and green avocado on top, and a black spoon on the right of the counter. White cabinets, a sink, a stove, and a white fridge are in the background.", "global_instruction_dense": "The right robotic gripper enters the kitchen scene, grasps a black spoon from the kitchen island, places it onto the white plate on top of the toaster oven, then grasps another black spoon, places it into the small white bowl on the island, and lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 684, "tasks": ["place spoon"], "length": 230, "global_instruction": "Pick the spoon from the blue bowl, move it downward, then place it back into the blue bowl.", "scene_description": "A white kitchen countertop holds a blue bowl with a dark spoon inside, a light green cup, and a small white dish to the right of a white under-window sink. A robotic arm is positioned above the counter adjacent to a gas stove.", "global_instruction_dense": "The right robotic arm lowers toward the blue bowl on the counter, grasps the dark spoon inside it, moves the spoon downward to the front of the counter near the dishwasher, then lifts the spoon back up and places it into the blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 685, "tasks": ["place spoon"], "length": 190, "global_instruction": "Place the small black measuring spoon from the counter into the rightmost light blue cup", "scene_description": "A white kitchen counter has a white sink on the left, a blue bowl, a small white bowl, three light blue cups, and a small black measuring spoon to the right of the cups. A gas stove sits to the right of the counter, with a right robotic arm above the stove, and a window with soap bottles is above the sink surrounded by white cabinets.", "global_instruction_dense": "The right robotic arm moves left from above the gas stove to the small black measuring spoon on the counter, grasps the spoon, lifts it, moves it over the rightmost light blue cup, drops the spoon into the cup, then retracts back toward the stove.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 686, "tasks": ["place spoon"], "length": 183, "global_instruction": "Take the spoon from the light blue cup and place it on the kitchen counter", "scene_description": "A white kitchen counter has a central sink, with a light blue cup, clear coffee pot, spray bottle, and fork to the sink's right, a black coffee maker beside the cup, and a black gas stove with a small metal pot at the far right. A window above the sink holds two soap bottles and a small potted plant on its sill, with white cabinets above and below the counter.", "global_instruction_dense": "The right robotic arm moves toward the light blue cup on the counter, grasps the spoon inside the cup, lifts the spoon out, moves it down to the counter, places it next to the existing fork, then lifts away from the placed spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 687, "tasks": ["place spoon"], "length": 307, "global_instruction": "Place the faucet aerator into the sink, then place a metal spoon into the light blue cup next to the sink.", "scene_description": "A white kitchen sink with a silver faucet sits below a white-framed window. The window sill holds a light green pump bottle, a small clear bottle, an orange pump bottle, a blue mat, and a small potted plant in a white pot. A roll of white paper towels is left of the sink, a light blue cup and dish rack are right of the sink, and a right robotic arm is positioned above the right side of the sink.", "global_instruction_dense": "The right robotic arm moves toward the sink faucet, grasps the small metallic aerator, drops it into the sink, then grasps a metal spoon, moves it to the light blue cup to the right of the sink, and inserts the spoon into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 688, "tasks": ["place spoon"], "length": 204, "global_instruction": "Pick up the metal spoon and place it on the wooden countertop.", "scene_description": "A white open cabinet against the left wall holds a light blue cup, clear wine glass, and black slotted spatula. To the right, a light wood countertop has a white mug, clear water bottle, Ziploc box, cloth, and small utensils, with a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon on the countertop, grasps it, lifts it, moves it to a new spot on the counter, lowers it, releases it, and moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 689, "tasks": ["place spoon"], "length": 154, "global_instruction": "Place the metal spoon into the white mug on the wooden table.", "scene_description": "A white open storage cabinet stands to the left of a wooden table. The cabinet shelves hold a light blue cup, orange cup, wine glass, two small clear glasses, and a white plate. On the table, there is a white mug, clear plastic bottle, green pen, metal spoon, miscellaneous packages, and a cloth, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the metal spoon on the wooden table, grasps it with its gripper, lifts the spoon, moves it over the white mug, and releases it above the mug.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 690, "tasks": ["place spoon"], "length": 215, "global_instruction": "Remove the metallic spoon from the white mug and place it on the paper napkin on the table.", "scene_description": "A light wooden table sits to the right of a white open shelving unit holding glassware and plates. On the table, there is an orange cup, a white mug with a metallic spoon inside, white plates, and a paper napkin, with a robotic arm positioned above the white mug.", "global_instruction_dense": "The right robotic arm grasps the metallic spoon inside the white mug, lifts the spoon out of the mug, moves it over the paper napkin on the table, and releases the spoon onto the napkin.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 691, "tasks": ["place spoon"], "length": 268, "global_instruction": "Pick up the metal spoon from the table and place it on the white napkin", "scene_description": "A white open shelving unit is positioned left of a light wooden tabletop. On the table: an orange plastic cup, a white coffee cup on a saucer, a glass kettle, white napkins, and a metal spoon. The shelving unit top has a yellow cup, potted plant, and decorative sign; middle has a wine glass; bottom has a white plate. A robotic arm is above the right side of the table.", "global_instruction_dense": "The right robotic arm moves down toward the metal spoon on the table, grasps the spoon, lifts it, moves it over the white napkin, lowers it, and releases it onto the napkin.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 692, "tasks": ["place spoon"], "length": 217, "global_instruction": "Take the silver spoon from the orange cup and place it on the white notepad on the counter.", "scene_description": "A light wood-topped kitchen island counter holds a blue-green sponge, white notepad, orange plastic cup with a silver spoon inside, green cloths, a black french press, and small assorted items. To the left of the counter is a white open shelf holding dishware including cups, plates, and glasses. A white robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the counter, grasps the silver spoon inside the cup, lifts the spoon, moves it over the white notepad on the left side of the counter, lowers the spoon onto the notepad, and releases the gripper.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 693, "tasks": ["place spoon"], "length": 193, "global_instruction": "Pick up the metal spoon from the table and place it into the silver cooking pot", "scene_description": "A dark brown wooden dining table holds a clear plastic water bottle, a silver metal cooking pot, a silver pot lid, a small orange plastic cup, a light green cloth, and assorted small utensils. A white robotic arm is positioned on the right of the table, with wooden chairs against the white wall behind the table.", "global_instruction_dense": "The right robotic arm moves left across the table toward the light green cloth, grasps the metal spoon, lifts it, moves it right over the silver cooking pot, and releases the spoon into the pot.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 694, "tasks": ["place spoon"], "length": 371, "global_instruction": "Place the spoons on the wooden dining table into the yellow bowl on the table.", "scene_description": "A dark brown wooden dining table holds silver utensils, a metal container with a light green cloth, an orange plastic bottle, a small white dish, two yellow plastic bowls, a blue transparent cup, and other kitchenware, with wooden chairs against the white wall, a white refrigerator in the background, and a robotic arm positioned above the table holding a utensil.", "global_instruction_dense": "The right robotic arm moves over the dining table, sequentially grasps spoons from the table surface, moves each spoon over the yellow bowl, and releases them into the bowl to store them.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 695, "tasks": ["place spoon"], "length": 304, "global_instruction": "Take a spoon from the silver metal pot and place it on the white plate atop the black toaster oven.", "scene_description": "A white table against white paneled walls holds a black toaster oven with a white plate on top, a clear plastic water bottle, an orange food packet, a small metal spoon, a black power cord, a silver metal pot, and a silver toaster near a curtained window.", "global_instruction_dense": "The right robotic arm moves toward the silver metal pot on the table, grasps a spoon inside the pot, lifts the spoon out, moves it over the white plate on the black toaster oven, lowers it, releases the spoon onto the plate, then lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 696, "tasks": ["place spoon"], "length": 209, "global_instruction": "Pick up the silver spoon on the table and place it near the silver toaster.", "scene_description": "A white table against a white wall holds a black small oven, an orange snack bag, a silver spoon, a silver toaster, two clear water bottles, a paper towel roll, and a black coffee maker, with a robotic arm above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward to the silver spoon on the white table, grasps the spoon with its gripper, lifts and moves it toward the silver toaster, then releases the spoon to rest on the table between the black oven and the toaster.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 697, "tasks": ["place spoon"], "length": 414, "global_instruction": "Place a spoon onto the white kitchen counter", "scene_description": "A white kitchen counter holds a black and silver coffee maker, a blue patterned circular plate leans on the wall left of the coffee maker, a silver microwave is installed in a white upper cabinet above the counter, a white and black robotic arm is positioned at the right of the counter, a window with a small photo frame and white device on its sill is at the back, a green wall with a wooden bookshelf of books sits above a patterned cushion sofa in the background.", "global_instruction_dense": "The right robotic arm moves to grasp a spoon, lifts and transports it over the white kitchen counter, lowers the spoon onto the counter surface, releases the spoon, and retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 698, "tasks": ["place spoon"], "length": 210, "global_instruction": "Pick up the silver spoon on the kitchen counter and place it into the open drawer below the counter.", "scene_description": "A stainless steel microwave is in an upper white cabinet, a blue patterned decorative plate is mounted on the wall below the cabinet, a black and silver coffee maker and a silver spoon are on the white kitchen counter, a grey patterned sofa sits against a green accent wall with a wooden bookshelf of books above it, and a robotic arm is positioned above a white table to the right of the counter.", "global_instruction_dense": "The right robotic arm moves from above the right white table toward the silver spoon on the kitchen counter, grasps the spoon, lifts it, moves downward to the open drawer below the counter, places the spoon inside the drawer, then retracts upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 699, "tasks": ["place spoon"], "length": 357, "global_instruction": "Place a spoon on the white kitchen counter next to the coffee maker.", "scene_description": "A silver microwave sits in a white cabinet above a white kitchen counter, a blue patterned decorative plate is propped below the cabinet, a black and silver coffee maker rests on the counter, and a white and black robotic arm is positioned on the counter's right side; a window next to a green wall with a wooden book shelf of books and a couch are in the background.", "global_instruction_dense": "The right robotic arm grasps a spoon, moves it over the white kitchen counter adjacent to the coffee maker, lowers and releases the spoon onto the counter, then moves away from the placed spoon.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 700, "tasks": ["place spoon"], "length": 265, "global_instruction": "Place a metal spoon on the kitchen counter and close the open drawer under the counter.", "scene_description": "A stainless steel microwave is fitted in a white upper cabinet, a blue patterned decorative plate leans against the wall below the cabinet, a black and silver coffee maker sits on a white kitchen counter, a right robotic arm is positioned to the right of the counter, a window with a small framed item on its sill is in the background, a green wall with a wooden bookshelf of books is on the upper right, and a cushioned bench sits below the window.", "global_instruction_dense": "The right robotic arm holds a metal spoon, moves leftward over the white kitchen counter, releases the spoon onto the counter, then moves downward to push the open drawer under the counter closed, and finally moves upward to rest.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 701, "tasks": ["place spoon"], "length": 668, "global_instruction": "Place two metal spoons on the white kitchen counter beside the coffee maker.", "scene_description": "A silver microwave is installed in a white upper cabinet, a blue and white circular decorative plate leans against the wall below the cabinet, a black and silver coffee maker sits on the white kitchen counter, and a robotic arm positioned to the right of the coffee maker holds a metal spoon. A window with a small framed item on its sill, a green wall with a wooden bookshelf holding books, and a dark patterned sofa are visible in the background.", "global_instruction_dense": "The right robotic arm carries a metal spoon, moves to the counter next to the coffee maker, releases the spoon onto the counter, moves away to pick up another metal spoon, returns to the counter, and releases the second spoon onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 702, "tasks": ["place spoon"], "length": 210, "global_instruction": "Place the dark metallic measuring spoon on the kitchen counter into the open drawer below the counter.", "scene_description": "A white kitchen counter holds a red measuring spoon, a dark metallic measuring spoon, and a green-lidded container behind the spoons. A robotic arm is on the counter's right, an open drawer sits below the counter, a window with white blinds is left of the counter, and a wall shelf with glass items is above the container.", "global_instruction_dense": "The right robotic arm moves left toward the dark metallic measuring spoon on the white kitchen counter, grasps the spoon, lowers it into the open drawer below the counter, releases the spoon into the drawer, then moves back upward to hover above the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 703, "tasks": ["place spoon"], "length": 175, "global_instruction": "Pick up the wooden spoon and place it into the silver metal bowl", "scene_description": "A gray table against a purple wall holds a blue tape roll in the front left, a brown wooden tray with a wooden spoon, sunglasses, and a small white object, a calculator to the tray's right, a white disk, and a silver metal bowl at the back right near a window.", "global_instruction_dense": "Right robotic arm moves toward the wooden spoon on the brown tray, grasps it, lifts and moves it over the silver metal bowl at the back of the table, then releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 704, "tasks": ["place spoon"], "length": 131, "global_instruction": "Pick the wooden spoon from the metal bowl and place it on the table next to the wooden cutting boards.", "scene_description": "A gray table sits against a purple wall. On the table, a blue tape roll with a black pen on top is at the front left, two brown wooden cutting boards with a gray calculator on them are in the middle, a small white plate with red food bits and a metal bowl with a wooden spoon resting on its edge are at the back right near a glass door.", "global_instruction_dense": "The right robotic arm extends toward the wooden spoon resting on the metal bowl at the back of the gray table, grasps the spoon, lifts it, moves it left toward the brown wooden cutting boards, and lowers it to place it on the table surface beside the cutting boards.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 705, "tasks": ["place spoon"], "length": 162, "global_instruction": "Pick up the wooden spoon on the cutting board and place it into the large metal bowl", "scene_description": "A grey countertop is in front of a purple wall. A blue tape roll is on the foreground left of the counter, a wooden cutting board holding a calculator and light wooden spoon is at the center, a small white plate with red items and a small red object are at the back right, and a large metal bowl is at the far right.", "global_instruction_dense": "The right robotic arm moves toward the wooden spoon on the cutting board, grasps it, lifts and moves it right over the large metal bowl, then releases the spoon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 706, "tasks": ["place spoon"], "length": 145, "global_instruction": "Place the spoon from the silver metal bowl onto the wooden tray", "scene_description": "A grey countertop against a dark purple wall holds an irregular wooden tray with a small blue bowl and calculator on it, a small white plate with red items, a tiny red box, and a large silver metal bowl containing a long light-colored spoon, with a glass door to the right.", "global_instruction_dense": "The right robotic gripper moves toward the long light-colored spoon in the silver metal bowl, grasps the spoon, lifts it out of the bowl, moves it left over the countertop, and places it onto the wooden tray.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 707, "tasks": ["place spoon"], "length": 179, "global_instruction": "Take a metal spoon from the open cutlery drawer and place it on the clear tray on the kitchen counter", "scene_description": "A kitchen countertop holds a clear glass carafe with a wooden lid, a stainless steel kettle, a small white plate, an orange hexagonal object, and a clear rectangular tray. A large blue-and-white decorative plate leans against the wall under white upper cabinets. Below the counter is an open cutlery drawer filled with metal utensils. A white robotic arm with a black gripper is positioned above the counter, and a green wall, window, and dark sofa are visible in the background.", "global_instruction_dense": "The right robotic arm lowers its gripper toward the open cutlery drawer, grasps a metal spoon, lifts the spoon out of the drawer, moves it over the clear rectangular tray on the kitchen counter, lowers and releases the spoon onto the tray, then retracts its gripper upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 708, "tasks": ["place spoon"], "length": 287, "global_instruction": "Place the silver measuring spoons from the kitchen counter into the open drawer below the counter.", "scene_description": "In a kitchen, a white countertop holds a black spatula, two silver measuring spoons, and a long pale utensil. An open drawer with wooden utensils sits below the counter, a stainless steel refrigerator is to the counter's left, a gas stove is to the counter's right, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves from above the stove to the kitchen counter, grasps the silver measuring spoons sequentially, moves each over the open drawer below the counter, and releases them into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 709, "tasks": ["place spoon"], "length": 145, "global_instruction": "Pick up the wooden spoon from the cabinet shelf and place it on the cabinet's top surface.", "scene_description": "A light wooden spoon rests in a metal bowl on the open shelf of a wooden cabinet against a purple wall hung with multiple string instruments; a robotic arm is positioned to the right of the cabinet, and a living area with sofas is in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden spoon in the wooden cabinet's open shelf, grasps the spoon, lifts it out of the shelf, moves upward to above the cabinet top, then lowers and releases the spoon onto the cabinet's top surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 710, "tasks": ["place spoon"], "length": 536, "global_instruction": "Hang the slotted pasta spoon from the pot onto the empty upper cabinet utensil hook.", "scene_description": "A stainless steel pot with a slotted pasta spoon inside sits on a kitchen gas stove. The counter left of the stove holds a light blue lidded bowl, a glass pot lid, and a small metal spoon, with empty utensil hooks under upper white cabinets above the stove.", "global_instruction_dense": "The right robotic arm lowers toward the slotted pasta spoon in the pot on the gas stove, grasps the spoon, lifts it out of the pot, moves it upward to the empty utensil hook under the upper cabinet, adjusts the spoon to hang securely on the hook, then releases the spoon and retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 711, "tasks": ["place spoon"], "length": 208, "global_instruction": "Pick up the wooden spoon from the cabinet shelf and place it against the silver bowl on the cabinet top.", "scene_description": "Purple walls have multiple string instruments hung on them. A brown wooden cabinet stands against the left wall, with a silver metal bowl on its top, a white open box on its middle shelf, and a light wooden spoon protruding from the box. A white robotic arm is positioned on the right near the cabinet, with brown seating in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden spoon in the cabinet's middle shelf, grasps it, lifts it upward toward the silver bowl on the cabinet top, lowers the spoon to rest against the bowl and cabinet edge, then releases the spoon and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 712, "tasks": ["place spoon"], "length": 137, "global_instruction": "Pick up the light wooden spoon from the kitchen counter and place it into the metal utensil holder on the gas stove.", "scene_description": "A light-colored kitchen counter holds assorted utensils: a wooden slotted spatula, black scissors, black-handled flat spatula, light wooden spoon, and knife, plus a gray bowl and pot lid. A gas stove with a metal utensil holder sits adjacent to the counter's right side, an open drawer with tray organizers and wooden cutting boards is below the counter, and a window with white blinds is on the far right of the scene.", "global_instruction_dense": "The right robotic gripper descends toward the light wooden spoon on the kitchen counter, closes to grasp the spoon, lifts it, moves toward the metal utensil holder on the gas stove, releases the spoon into the holder, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 713, "tasks": ["place spoon"], "length": 272, "global_instruction": "Place a wooden spoon from the stainless steel pot on the counter into the open utensil drawer.", "scene_description": "A stainless steel pot holding utensils, a light wooden slotted spatula, and a black spatula rest on a light kitchen counter. A gas stove with a white bowl sits behind the counter, and an open utensil drawer filled with various kitchen tools is below the counter.", "global_instruction_dense": "The right robotic gripper moves above the stainless steel pot on the kitchen counter, lowers into the pot to grasp a wooden spoon, lifts the spoon, moves it over the open drawer, lowers it into the drawer and releases it, then moves away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 714, "tasks": ["place spoon"], "length": 186, "global_instruction": "Place the wooden spoon from the kitchen counter into the open utensil drawer.", "scene_description": "A kitchen counter holds a metal bowl with scissors inside, a light gray bowl, multiple cutlery items, and a gas stove with a stainless steel pot. An open drawer under the counter holds sorted wooden utensils, scissors, and other kitchen tools.", "global_instruction_dense": "The right robotic arm moves down toward the wooden spoon on the counter, grasps it, lowers it into the open utensil drawer, releases it, then retracts away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 715, "tasks": ["place spoon"], "length": 125, "global_instruction": "Move the metal spoon from the stainless steel pot to the adjacent light gray bowl.", "scene_description": "A stainless steel pot with a metal spoon inside rests on a gas stovetop, a light gray bowl sits on an adjacent burner, with a countertop holding lidded items next to a blind-covered window in the background.", "global_instruction_dense": "The right robotic gripper descends to grasp the metal spoon inside the stainless steel pot on the stovetop, lifts the spoon, moves it over the adjacent light gray bowl, lowers the spoon into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 716, "tasks": ["place spoon"], "length": 138, "global_instruction": "Place a metal spoon on the kitchen countertop.", "scene_description": "A white kitchen counter holds a green-lidded storage container, a printed light paper cup, and metal bowls near a window with blinds. A right-side robotic arm is positioned above the counter, with a wooden wall shelf holding a gray cylinder and small black dish, and a frosted blind door on the left.", "global_instruction_dense": "The right robotic arm moves downward to grasp a metal spoon, lifts the spoon, moves it over the kitchen counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 717, "tasks": ["place spoon"], "length": 201, "global_instruction": "Pick up the metal spoon from the sink and place it on the countertop next to the sink.", "scene_description": "A stainless steel kitchen sink sits under a window with white horizontal blinds, a black spring-neck faucet is at the left of the sink, a metal spoon rests inside the sink, and a white robotic arm is positioned over the sink with kitchen cabinets in the background.", "global_instruction_dense": "The right robotic gripper grasps the metal spoon inside the sink, lifts it, moves it rightward over the adjacent countertop, releases the spoon onto the counter, then moves back to hover above the sink.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 718, "tasks": ["place spoon"], "length": 154, "global_instruction": "Take metal spoons out of the silver cylindrical container and place them on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver cylindrical container with metal spoons inside, a black coffee maker to the left of the container, a blue-and-white decorative plate leaning against the wall behind the container, a stainless steel microwave installed in upper white cabinets, and a right robotic arm positioned above the container.", "global_instruction_dense": "The right robotic arm lowers into the silver cylindrical container, grasps a metal spoon, lifts it out of the container, moves it to the empty counter space left of the container, releases the spoon onto the counter, then moves back toward the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 719, "tasks": ["place spoon"], "length": 183, "global_instruction": "Place the scattered silver metal spoons from the kitchen counter into the black-lidded stainless steel container.", "scene_description": "A white kitchen counter holds a black and silver coffee maker, a blue and white patterned decorative plate, scattered silver metal spoons, a black-lidded stainless steel container, a small stainless steel bowl, and a silver microwave mounted above the counter, with a robotic arm positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the scattered metal spoons on the kitchen counter, grasps a spoon, lifts it, moves it over the black-lidded stainless steel container, releases the spoon into the container, then moves back toward the remaining scattered spoons.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 720, "tasks": ["place spoon"], "length": 242, "global_instruction": "Place a metal spoon from the small stainless steel pot into the lidded stainless steel container next to the decorative plate.", "scene_description": "A white kitchen counter holds a small stainless steel pot at the front, a stainless steel frothing pitcher with a stirrer to the pot's left, a coffee machine behind the pitcher, a blue and white decorative plate leaning against the backsplash, a lidded small stainless steel container next to the plate, a roll of white paper towels, and a microwave in upper white cabinets. A robotic arm is positioned on the right side of the counter.", "global_instruction_dense": "The right robotic arm first moves to grasp the small stainless steel pot, moves it right across the counter and releases it, then grasps a metal spoon from the pot, lifts it, moves it to the lidded stainless steel container next to the decorative plate, and places the spoon inside the container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 721, "tasks": ["place spoon"], "length": 167, "global_instruction": "Pick a metal spoon from the kitchen counter and place it into the stainless steel pot on the counter.", "scene_description": "A kitchen counter holds a black coffee maker, a blue patterned circular decorative plate, multiple stainless steel containers, a white paper towel roll, scattered metal spoons, and a silver container with chopsticks on the left. A stainless steel microwave is mounted in white upper cabinets above the counter, and a white and black robotic arm is positioned on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the scattered metal spoons on the kitchen counter, lowers to grasp a metal spoon, lifts the spoon, moves right toward the stainless steel pot, and lowers the spoon into the pot.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 722, "tasks": ["place spoon"], "length": 168, "global_instruction": "Place a silver spoon on the kitchen counter into the silver metal cup.", "scene_description": "A kitchen counter holds a silver coffee maker, blue-and-white patterned plate, several silver spoons, black-lidded silver canister, silver metal cup, and white paper towel roll, with a microwave in the upper cabinet, and a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the silver spoons on the kitchen counter, grasps a spoon, lifts it, moves it over the silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 723, "tasks": ["place spoon"], "length": 306, "global_instruction": "Place the metal slotted spoon from the counter into the left utensil holder", "scene_description": "A white kitchen counter holds a silver coffee maker with a green top, a silver electric kettle, a roll of white paper towels, a blue-and-white decorative plate, a small black-lidded silver container, a larger stainless steel cup, a metal slotted spoon, and a red-and-white small object. Upper white cabinets with an embedded microwave are above the counter, and a robotic arm is positioned over the right end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal slotted spoon on the right section of the counter, grasps it, lifts it, moves it leftward over the utensil holder next to the paper towels, lowers the spoon, and releases it into the holder.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 724, "tasks": ["place spoon"], "length": 230, "global_instruction": "Pick a silver spoon from the open cutlery drawer and place it on the white paper on the kitchen counter.", "scene_description": "A light kitchen counter holds a silver knife on white paper, a white dotted mug, and an open drawer below with categorized silver cutlery. A robotic arm is positioned above a distant white table with a small red can, against a green back wall.", "global_instruction_dense": "The right robotic arm moves from above the background table down to the open cutlery drawer, grasps a silver spoon from the drawer, lifts it, moves it over to the kitchen counter, and places it on the white paper next to the existing knife.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 725, "tasks": ["place spoon"], "length": 226, "global_instruction": "Place a metal spoon from the open silverware drawer onto the kitchen countertop.", "scene_description": "A kitchen countertop holds a polka-dot mug, white papers, a metal knife, chopsticks, and a metal fork, with an open silverware drawer below. A right robotic arm is positioned above a white table with a red can in the background, next to green walls and a window under upper cabinets with a microwave.", "global_instruction_dense": "The right robotic arm moves downward from above the white table toward the open silverware drawer, grasps a metal spoon from the drawer, lifts it, moves it over the kitchen countertop, lowers it, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 726, "tasks": ["place spoon"], "length": 241, "global_instruction": "Pick a silver spoon from the cutlery drawer and place it on the kitchen counter.", "scene_description": "A light grey kitchen counter holds loose silver utensils, a white polka-dot cup, and a metallic kettle, with an open drawer of sorted silver cutlery under the counter, and a white robotic arm positioned above the drawer.", "global_instruction_dense": "The right robotic arm moves down into the open cutlery drawer, grasps a silver spoon, lifts it, moves it over the kitchen counter, then releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 727, "tasks": ["place spoon"], "length": 197, "global_instruction": "Place the wooden spoon from under the glass stand onto the open kitchen counter surface.", "scene_description": "A light-colored kitchen counter next to a stainless steel gas stove holds a green glass tiered serving stand, a small orange container, and a wooden spoon tucked under the stand. A black oven mitt hangs on the white wall above the counter, with white wall-mounted cabinets above.", "global_instruction_dense": "The right robotic gripper moves from the edge of the gas stove toward the wooden spoon under the glass tiered stand, grasps the spoon, pulls it out from under the stand, moves it to the empty area of the counter, releases it, then retracts back toward the stove.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 728, "tasks": ["place spoon"], "length": 300, "global_instruction": "Grasp a metal spoon from the table, move it across the table, and place it back on the table surface.", "scene_description": "A white office table holds an open black laptop, green soda can, bowl of yellow and green blocks, purple-capped spray bottle, tissue box, patterned bowl of colorful blocks, metal spoons, small remote, wooden perforated cube, and small tools, with a white robotic arm at the upper left near a Toyota Research Institute screen.", "global_instruction_dense": "The left robotic arm moves down from its upper starting position toward a metal spoon on the table, grasps the spoon with its gripper, lifts and moves it across the table over other objects, then lowers and releases the spoon back onto the table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 729, "tasks": ["place spoon"], "length": 352, "global_instruction": "Pick up the silver spoon on the table and place it into the bowl of candies.", "scene_description": "A white oval table holds a silver spoon, a bowl with blue and green candies, a black Dell laptop, a green spray bottle, a silver remote control, a metallic tissue box, assorted cutlery, a yellow bowl, and a wooden block, with the robot's left arm at the top left of the view and a Toyota Research Institute display on the wall behind the table.", "global_instruction_dense": "The left robotic arm moves downward toward the silver spoon on the table, grasps the spoon with its gripper, lifts it, moves it over the bowl of candies, adjusts position, releases the spoon onto the table adjacent to the bowl, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 730, "tasks": ["place spoon"], "length": 278, "global_instruction": "Pick up the metal spoon, move it over the blue striped plate, then place it back on the table.", "scene_description": "A white table holds a metal spoon, bowl with yellow contents, blue striped plate with green object, black laptop, remote control, silver tissue box, spray bottle, and other small items; a white robotic arm is positioned at the left of the table.", "global_instruction_dense": "The right robotic arm reaches toward the metal spoon on the table, grasps and lifts it, moves it over the blue striped plate, then moves back and places the spoon on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 731, "tasks": ["place spoon"], "length": 304, "global_instruction": "Place the metal spoons on the table into the white bowl with yellow contents.", "scene_description": "A white oval table holds two metal spoons, a white bowl with yellow contents, a blue-and-white patterned small bowl, a white plate with green and orange objects, a spray bottle, a remote, a tissue box, a laptop and other small items, with a white robotic arm at the left edge of the table and a Toyota Research Institute screen in the background.", "global_instruction_dense": "The right robotic arm grasps a metal spoon on the table, moves it to the white bowl with yellow contents and releases it inside, then grasps another metal spoon, moves it to the same bowl and releases it before retracting slightly.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 732, "tasks": ["place spoon"], "length": 264, "global_instruction": "Reposition the white spoon on the table to a spot near the small plate.", "scene_description": "A white robotic arm is positioned on the left side of a white table. The table holds a green soda can, small plates with items, a wooden shape sorting box, remote controls, utensils, a tissue box, a yellow bottle, and miscellaneous objects, with a display screen and chairs in the background.", "global_instruction_dense": "The left robotic arm moves down from its raised starting position, grasps the white spoon on the table, moves the spoon horizontally across the table surface to a new position near the plate, then releases the spoon and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 733, "tasks": ["place spoon"], "length": 213, "global_instruction": "Place the metal spoon onto the paper plate then retract the robotic gripper out of the countertop view.", "scene_description": "A white countertop against a grey tiled wall holds a stacked brown box and books on the left, a clear lidded plastic container, small red round object, blue-and-white patterned paper plate in the center, two stacks of white disposable cups on the right, with a right robotic gripper holding a metal spoon above the plate.", "global_instruction_dense": "The right robotic gripper holding a metal spoon lowers it onto the blue-and-white patterned paper plate, releases the spoon, then moves upward until it completely exits the visible countertop area and stays out of view.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 734, "tasks": ["place spoon"], "length": 282, "global_instruction": "Place the metal spoon from the larger white bowl into the smaller white bowl", "scene_description": "A white kitchen countertop holds folded white napkins, a small white bowl of dark food, a small red round object, a larger white bowl of dark food with a metal spoon, a beige cardboard box, a black tumbler, and two stacks of printed paper cups against a gray tiled backsplash, with a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the larger white bowl on the countertop, grasps the metal spoon inside it, lifts the spoon, shifts the smaller white bowl left toward the napkins, moves the spoon to the smaller bowl, places the spoon inside it, then releases the spoon and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 735, "tasks": ["place spoon"], "length": 360, "global_instruction": "Transfer the metal spoon from the left white bowl into the right white bowl on the counter", "scene_description": "A kitchen counter with a stainless steel sink on the left, a chrome faucet above the sink, a white mug with red interior in the sink. On the counter: blue sponge, clear bottle with green cap, clear glass, white tissue box, two white bowls (left bowl has a metal spoon), white box with yellow and red items, red round lid, white paper towel roll, beige bottle, and a Franka robotic arm above the counter right.", "global_instruction_dense": "The left robotic arm moves down toward the metal spoon in the left white bowl, grasps the spoon, lifts and moves it over the right white bowl, lowers the spoon into the right bowl, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 736, "tasks": ["place spoon"], "length": 245, "global_instruction": "Take the black slotted spoon from the green bowl and place it near the wooden bowl on the counter.", "scene_description": "A dark kitchen counter holds a green bowl with a black slotted spoon inside, a silver toaster, assorted containers, a light brown wooden bowl, and a sink, with light wooden cabinets and a stainless steel microwave in the background.", "global_instruction_dense": "The left robotic arm moves down toward the green bowl on the counter, grasps the black slotted spoon inside it, lifts the spoon, moves it rightward toward the wooden bowl, and releases the spoon next to the wooden bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 737, "tasks": ["place spoon"], "length": 144, "global_instruction": "Place the white plastic spoon into the beige basket on the kitchen counter.", "scene_description": "A white robotic arm is positioned to the left of a kitchen counter. On the counter, there is a beige basket, white plastic spoon, small orange drink bottle, red packaged item, and purple pump bottle. Behind the counter is a sink with a white mug inside, wooden upper cabinets above the sink, and a stove with green vegetables to the sink's right.", "global_instruction_dense": "The left robotic arm moves down from above the sink toward the white plastic spoon on the counter, grasps the spoon, lifts it, moves it over the beige basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 738, "tasks": ["place spoon"], "length": 219, "global_instruction": "Pick up the red spoon on the table and place it into the yellow container behind the bread bag.", "scene_description": "A white robotic arm is positioned to the left of a light wooden kitchen table. On the table, from left to right: a red plate, a red spoon, a purple small cup, a green small cup, an orange pumpkin-shaped decor, an orange bowl, a transparent bag of bread, a white printed mug, and a black water filter pitcher. The background has wooden upper cabinets, a stainless steel refrigerator, a microwave, and a whiteboard.", "global_instruction_dense": "The left robotic arm moves its gripper across the table toward the red spoon next to the red plate, grasps the spoon, lifts it, moves it rightward over the yellow container positioned behind the bread bag, lowers the spoon, and releases it into the yellow container.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 739, "tasks": ["place spoon"], "length": 320, "global_instruction": "Place the metal spoon from the blue bowl into the green bowl on the kitchen countertop.", "scene_description": "A dark grey kitchen countertop holds a blue bowl with a metal spoon inside, a bright green plastic cup, a larger green bowl, a beige woven basket with a light brown pear, a silver toaster, and a silver microwave on the far right, with light wooden cabinets above the counter, and a white robotic arm positioned near the sink left of the counter items.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon in the blue bowl, grasps the spoon, lifts it out of the blue bowl, moves it rightward over the green bowl, lowers it into the green bowl, and releases the spoon to leave it inside the green bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 740, "tasks": ["place spoon"], "length": 243, "global_instruction": "Place the white spoon from the brown bowl into the green bowl", "scene_description": "A light wooden table holds a brown woven bowl on the left, a green bowl adjacent to it, a red rectangular object, notebooks, and a white robotic arm at the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the brown woven bowl, grasps the white spoon inside it, lifts the spoon, moves it over the green bowl, and releases the spoon into the green bowl.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 741, "tasks": ["place spoon"], "length": 351, "global_instruction": "Place the black spoon from the green bowl into the light beige woven basket", "scene_description": "A dark kitchen counter holds a green bowl with a black spoon inside, a green cup, a red tomato, a light brown pear, an orange carrot, and a light beige woven basket on the counter's right side, with a right robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves toward the green bowl, grasps the black spoon inside the bowl, lifts the spoon, moves it rightward over the light beige woven basket, releases the spoon into the basket, then moves left above the counter.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 742, "tasks": ["place spoon"], "length": 607, "global_instruction": "Pick up the metal spoon from the orange desk and place it on the white table.", "scene_description": "A white left robotic arm is positioned left of a white table holding a red plate, plastic bottles, small containers, and a standing card. A yellow grid shelving unit sits next to the white table, with an orange desk to the right of the shelf holding a monitor, blue tablet, metal spoon, and keyboard.", "global_instruction_dense": "The left robotic arm moves from its initial position near the yellow shelving unit toward the metal spoon on the orange desk, lowers its gripper to grasp the spoon, adjusts the spoon's position on the desk, lifts the spoon, moves leftward over the white table, and releases the spoon onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 743, "tasks": ["place spoon"], "length": 307, "global_instruction": "Pick up the silver spoon from the orange desk and place it on the small white side table.", "scene_description": "A silver spoon rests on an orange wooden desk with a keyboard, monitors, and a tablet. A small white table with small items is to the left of the desk, a yellow storage rack is behind the tables, and two white robotic arms are positioned on the left side of the scene.", "global_instruction_dense": "The right robotic gripper moves toward the silver spoon on the orange desk, grasps the spoon, lifts it, moves it leftward over the small white table, lowers it, and releases the spoon onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 744, "tasks": ["place spoon"], "length": 239, "global_instruction": "Place the black spoon from the green bowl onto the adjacent yellow cloth.", "scene_description": "A gray tabletop holds a green bowl with a black spoon inside resting on a yellow cloth, red measuring cups, toy food pieces, a black base with a red button, and small plastic containers, with the robotic arm positioned near the red button.", "global_instruction_dense": "The right robotic arm moves from its initial position near the red button toward the green bowl, grasps the black spoon inside the bowl, lifts the spoon, moves it over the yellow cloth next to the bowl, and releases the spoon onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 745, "tasks": ["place spoon"], "length": 279, "global_instruction": "Remove the black spoon from the green bowl and place it on the gray tabletop.", "scene_description": "A gray table holds a green bowl with a black spoon inside, assorted colorful plastic cups, small wooden bowls, fake food items, a yellow cloth, and red scoops, with a white robotic arm positioned at the left edge of the table.", "global_instruction_dense": "The right robotic gripper moves toward the green bowl on the gray table, grasps the black spoon inside the bowl, lifts the spoon out of the bowl, moves it rightward above the table, lowers it, releases it onto the table surface, then retracts its arm upward.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 746, "tasks": ["place spoon"], "length": 197, "global_instruction": "Place the black spoon from the small green bowl into the larger green bowl", "scene_description": "A gray tabletop holds a small green bowl with a black spoon inside, a larger green bowl, red measuring cups, artificial produce, and other small kitchen items. The right robotic gripper is positioned above the table near the bowls.", "global_instruction_dense": "The right robotic arm moves downward toward the small green bowl, grasps the black spoon inside it, lifts the spoon and moves it over the larger green bowl, releases the spoon into the larger bowl, then moves upward away from the bowls.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 747, "tasks": ["place spoon"], "length": 193, "global_instruction": "Place the black spoon from the large green bowl into the smaller green bowl", "scene_description": "A dark grey countertop holds a large green bowl with a black spoon inside, a smaller empty green bowl to the right of the large bowl, a red spherical object on a black base, a yellow knitted cloth, pink and orange soft toy fruits, red measuring cups, and assorted small bowls, cups and paper items in the background. A white robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the large green bowl, grasps the black spoon inside it, lifts the spoon, moves it over the adjacent smaller green bowl, lowers the spoon into the smaller bowl, releases it, then moves back away from the bowls.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 748, "tasks": ["place spoon"], "length": 244, "global_instruction": "Grasp the black spoon and place it onto the table next to the green bowl.", "scene_description": "A dark grey table holds a green bowl with food inside, small red, blue, yellow and green containers, a black spoon, a yellow cloth, a red tomato on a black base, and a white paper towel roll on the far right, with a white robotic arm at the left of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the black spoon on the table, grasps and lifts it, moves it to the area next to the green bowl, releases it onto the table, then moves upward away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "spoon", "object_category": "Tableware & Kitchen Utensils"}
diff --git a/datasets/droid/data/place__spoon/meta/episodes_stats.jsonl b/datasets/droid/data/place__spoon/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..08aaeaf652a3858f662a665aa3b02a1a90dd709d
--- /dev/null
+++ b/datasets/droid/data/place__spoon/meta/episodes_stats.jsonl
@@ -0,0 +1,749 @@
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diff --git a/datasets/droid/data/place__spoon/meta/info.json b/datasets/droid/data/place__spoon/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b70817e2bb2cf19f7c16ef89c262ff6eebc873a
--- /dev/null
+++ b/datasets/droid/data/place__spoon/meta/info.json
@@ -0,0 +1,255 @@
+{
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+  "total_frames": 206520,
+  "total_tasks": 1,
+  "total_videos": 2247,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
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+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
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+      "names": null
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+    "observation.state.cartesian_position": {
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+      ],
+      "names": [
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+      "info": {
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+        "video.codec": "av1",
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+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false
+      }
+    },
+    "observation.images.ext2": {
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+        "width",
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+        "video.codec": "av1",
+        "has_audio": false,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.pix_fmt": "yuv420p",
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+      }
+    },
+    "observation.images.wrist": {
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+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "rgb"
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+        "video.codec": "av1",
+        "has_audio": false,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false
+      }
+    }
+  },
+  "skill_category": "抓取/放置/传递 (Pick/Place/Carry)",
+  "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/place__spoon/meta/stats.json b/datasets/droid/data/place__spoon/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6217108cc9c48799668a74be8c135e48778a0cc1
--- /dev/null
+++ b/datasets/droid/data/place__spoon/meta/stats.json
@@ -0,0 +1,761 @@
+{
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