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"verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 11, "tasks": ["Wipe the round wooden table using the teal cloth while repositioning the clear glass to keep it out of the wiping path."], "length": 1263, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 12, "tasks": ["Wipe the wooden table surface with the teal cloth after moving the clear glass out of the way, then return the glass to the table."], "length": 1266, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 13, "tasks": ["Wipe the liquid spill on the wooden table using the green cloth while holding the glass cup out of the cleaning path."], "length": 1270, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 14, "tasks": ["Wipe 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1295, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 18, "tasks": ["Wipe the wooden table surface with the turquoise cloth while holding the glass out of the way, then place the glass back on the table."], "length": 1277, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 19, "tasks": ["Wipe the wet spots on the table using the cloth"], "length": 1309, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 20, "tasks": ["Move the red liquid glass aside with the left arm, then wipe the spilled liquid on the table using the purple cloth held by the right arm."], "length": 1442, "skill": "Move / Transport / Lift", "verb": "move", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 21, "tasks": ["Lift the clear 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"object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 200, "tasks": ["Wipe the table surface with the yellow cloth, holding the cup out of the way during wiping, then return the cup to the table."], "length": 1265, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 201, "tasks": ["Move the green mug away from the spilled liquid, wipe the spill with the yellow cloth, then return the mug to its original position."], "length": 1302, "skill": "Move / Transport / Lift", "verb": "move", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 202, "tasks": ["Wipe the damp spot on the table with the yellow cloth after moving the mug aside, then return the mug to the table."], "length": 1263, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 203, "tasks": ["Wipe the wooden table 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"liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 455, "tasks": ["Wipe the yellow liquid spill on the table using the brown cloth."], "length": 1297, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 456, "tasks": ["Wipe the small table spill using the purple cloth after moving the brown cup out of the way."], "length": 1300, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 457, "tasks": ["Wipe the orange wet spot on the white table using the purple cloth, adjusting the brown cup's position with the left robotic arm as needed."], "length": 1351, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 458, "tasks": ["Move the brown glass cup away from the spill, wipe the liquid spill with the purple cloth, then 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"Furniture & Articulated Fixtures"} +{"episode_index": 469, "tasks": ["Wipe the spilled liquid on the white table using the light purple cloth."], "length": 1363, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 470, "tasks": ["Pour coffee from the white cup onto the table, then wipe the spilled coffee with the purple cloth."], "length": 1366, "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "coffee", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 471, "tasks": ["Wipe the table surface around the white cup using the purple cloth, adjusting the cup's position as needed with the left arm."], "length": 1481, "skill": "Wipe / Clean", "verb": "wipe", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 472, "tasks": ["Lift the dark blue mug with the left robotic arm, then wipe the spilled liquid on the white table using the brown 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"object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 476, "tasks": ["Wipe the brown spilled liquid on the white table using the purple cloth, after moving the white cup away from the spill area."], "length": 1545, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 477, "tasks": ["Grasp the red mug using the left robotic arm and the pink towel using the right robotic arm."], "length": 1319, "skill": "Pick & Place", "verb": "grasp", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 478, "tasks": ["Wipe the white table surface with the purple cloth while holding the white cup aside."], "length": 1383, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 479, "tasks": ["Grasp the red mug with the left robotic arm and the pink towel with the right robotic arm, then release both 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"object_category": "Liquid Containers & Beverages"} +{"episode_index": 483, "tasks": ["Lift the glass of orange liquid with the left gripper, wipe the table with the pink cloth using the right gripper, then set the glass back on the table."], "length": 1375, "skill": "Move / Transport / Lift", "verb": "lift", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 484, "tasks": ["Wipe the spilled liquid on the white table using the gray towel."], "length": 1291, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 485, "tasks": ["Wipe the spilled liquid on the table using the purple cloth while stabilizing the nearby paper cup."], "length": 1373, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 486, "tasks": ["Lift the center glass of reddish liquid, wipe the table under it with a pink cloth, 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"wipe", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 490, "tasks": ["Wipe the table area under the amber glass with the pink cloth while holding the glass above the table."], "length": 1271, "skill": "Wipe / Clean", "verb": "wipe", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 491, "tasks": ["Move the glass of orange liquid aside, wipe the table under it with the cloth, then place the glass back onto the cleaned surface."], "length": 1280, "skill": "Move / Transport / Lift", "verb": "move", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 492, "tasks": ["Wipe the table surface with the pink cloth while holding the amber glass of orange liquid out of the way."], "length": 1298, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 493, "tasks": ["Lift the clear cup with the left 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"use", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 504, "tasks": ["Wipe the water stain on the table with the pink cloth after moving the white cup aside."], "length": 1272, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 505, "tasks": ["Wipe the liquid spilled near the white cup on the table using the purple towel."], "length": 1285, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 506, "tasks": ["Fold the pink cloth on the table while temporarily moving the white cup out of the way."], "length": 1277, "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 507, "tasks": ["Lift the center amber glass and wipe the table surface with the pink cloth"], "length": 1284, "skill": "Move / 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"length": 1277, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 512, "tasks": ["Wipe the liquid spill on the white table using the pink cloth after moving the plastic cup aside, then return the cup to the table."], "length": 1276, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 513, "tasks": ["Wipe the table area under the translucent orange glass cup using the pink cloth."], "length": 1549, "skill": "Wipe / Clean", "verb": "wipe", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 514, "tasks": ["Wipe the wet spill on the table using the cleaning cloth, then replace the white mug back on the table surface."], "length": 1848, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 515, "tasks": ["Wipe the 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"object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 519, "tasks": ["Wipe the central table surface using the pink cloth, then replace the temporarily lifted glass back onto the table."], "length": 1269, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 520, "tasks": ["Pick up the white cup and pink cloth, then place both objects back on the table."], "length": 1273, "skill": "Pick & Place", "verb": "pick", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 521, "tasks": ["Clean the spilled liquid on the wooden table using the cloth, repositioning the cup during cleaning."], "length": 1905, "skill": "Wipe / Clean", "verb": "clean", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 522, "tasks": ["Wipe the light brown liquid stain on the white table using the purple towel after repositioning 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"object_category": "Liquid Containers & Beverages"} +{"episode_index": 526, "tasks": ["Pick up the white cup and pink cloth from the table then place both back onto the table."], "length": 1274, "skill": "Pick & Place", "verb": "pick", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 527, "tasks": ["Wipe the table area under the center small glass of orange liquid with the brown towel after lifting the glass with the left robotic arm, then place the glass back onto the table."], "length": 1408, "skill": "Wipe / Clean", "verb": "wipe", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 528, "tasks": ["Wipe the spilled liquid on the white table with the pink cloth after temporarily moving the plastic cup out of the way."], "length": 1284, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 529, "tasks": ["Wipe the spilled liquid on 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"object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 533, "tasks": ["Wipe the central water stain on the wooden table using the beige rag, moving the white cup aside then returning it to the table."], "length": 2185, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 534, "tasks": ["Pour orange liquid from the glass onto the table, then wipe the spilled liquid using the brown rag."], "length": 1330, "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 535, "tasks": ["Wipe the table area under the small orange glass using the pink cloth."], "length": 1275, "skill": "Wipe / Clean", "verb": "wipe", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 536, "tasks": ["Adjust the position of the white cup, then wipe the water spill on the 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["Wipe the spilled water on the wooden table using the yellow cloth, moving the white mug out of the way first and returning it after cleaning."], "length": 1797, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 562, "tasks": ["Wipe the surface of the white round table using the brown towel after moving the clear brown glass aside."], "length": 1268, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 563, "tasks": ["Pour liquid from the glass onto the table, then wipe the spilled liquid with the brown cloth."], "length": 1325, "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 564, "tasks": ["Grasp and hold the brown cup with the left robotic arm while adjusting the brown cloth with the right robotic arm, then replace the cup 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"Liquid Containers & Beverages"} +{"episode_index": 568, "tasks": ["Wipe the liquid spill on the wooden table and return the white cup to its original position."], "length": 1499, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 569, "tasks": ["Wipe the spilled liquid on the white round table with the brown cloth, then place the glass with orange liquid back on the table."], "length": 1441, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 570, "tasks": ["Wipe the water spot on the white table using the folded brown cloth, moving the glass out of the way during wiping."], "length": 1278, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 571, "tasks": ["Wipe the water stain on the wooden table using the beige cloth, while moving the white 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"tasks": ["Wipe the water stain on the table using the pink cloth, with the left arm lifting the cup out of the way first."], "length": 1266, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 583, "tasks": ["Lift the white plastic cup with the left robotic arm and the pink cloth with the right robotic arm, then place both back on the table."], "length": 1273, "skill": "Move / Transport / Lift", "verb": "lift", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 584, "tasks": ["Wipe the white table surface with the pink cloth after adjusting the clear plastic cup's position."], "length": 1297, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 585, "tasks": ["Pour brown liquid from the glass onto the table and wipe the spilled liquid using the towel."], "length": 1746, "skill": "Pour / Scoop 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"object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 596, "tasks": ["Move the white cup aside, wipe the spilled liquid on the table with the pink cloth, then replace the cup."], "length": 1282, "skill": "Move / Transport / Lift", "verb": "move", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 597, "tasks": ["Wipe the spilled liquid on the table with the pink cloth after moving the white cup out of the way."], "length": 1284, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 598, "tasks": ["Wipe the wet stains on the white table using the pink cloth after temporarily lifting the white plastic cup out of the way."], "length": 1335, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 599, "tasks": ["Wipe the white table surface with the pink cloth, 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"Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 621, "tasks": ["Adjust the white cup on the table then wipe the table surface using the purple cloth."], "length": 1328, "skill": "Wipe / Clean", "verb": "adjust", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 622, "tasks": ["Wipe the spilled liquid on the table using the yellow cloth after moving the glass cup out of the way."], "length": 1284, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 623, "tasks": ["Wipe the small brown spot on the white table using the purple cloth."], "length": 1278, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 624, "tasks": ["Wipe the spilled liquid next to the pink cup on the table using the yellow cleaning cloth."], "length": 1287, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 625, "tasks": ["Wipe up the orange spill next to the white cup using the purple towel."], "length": 1284, "skill": "Wipe / Clean", "verb": "wipe", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 626, "tasks": ["Wipe the spilled liquid on the white round table using the yellow cloth after moving the pink glass cup away from the spill."], "length": 1324, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 627, "tasks": ["Wipe the light yellow liquid spill next to the white cup on the table using the purple cloth."], "length": 1343, "skill": "Wipe / Clean", "verb": "wipe", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 628, "tasks": ["Wipe the water spill on the white table with the 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water on the table with the yellow cloth after temporarily moving the pink glass aside."], "length": 1282, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 633, "tasks": ["Lift the white cup, use the purple cloth to wipe the table surface, then place the cup back on the table."], "length": 1306, "skill": "Move / Transport / Lift", "verb": "lift", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 634, "tasks": ["Move the mug away from the spill, wipe the spilled liquid with the brown cloth, then return the mug to its original position."], "length": 1337, "skill": "Move / Transport / Lift", "verb": "move", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 635, "tasks": ["Wipe the spilled liquid on the white round table using the yellow cloth."], "length": 1277, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 636, "tasks": ["Remove the light orange crumb from the white table by wiping it with the light purple cloth, after moving the white cup aside."], "length": 1278, "skill": "Remove / Retrieve", "verb": "remove", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 637, "tasks": ["Wipe the spilled water on the white round table using the beige cleaning cloth, temporarily moving the pink glass out of the way."], "length": 1260, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 638, "tasks": ["Wipe the orange spill on the white table using the purple cloth after repositioning the white cup."], "length": 1326, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 639, "tasks": ["Wipe the liquid spill on the table using the 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"object_category": "Liquid Containers & Beverages"} +{"episode_index": 643, "tasks": ["Wipe the water puddle on the white table using the yellow cloth after moving the pink glass aside."], "length": 1279, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 644, "tasks": ["Wipe the liquid spill on the white round table using the yellow cleaning cloth."], "length": 1287, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 645, "tasks": ["Wipe the spilled water puddle on the white table using the yellow cleaning cloth."], "length": 1279, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 646, "tasks": ["Wipe the orange liquid spilled from the glass using the pink cloth on the table."], "length": 1297, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 647, "tasks": ["Wipe the water stain on the white table using the yellow cleaning cloth after moving the pink glass out of the way."], "length": 1281, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 648, "tasks": ["Wipe the spilled orange liquid on the table using the brown towel while holding the glass of orange liquid steady to prevent further spills."], "length": 1373, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 649, "tasks": ["Wipe the liquid spill on the white table using the yellow cloth."], "length": 1292, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 650, "tasks": ["Wipe the spilled orange liquid on the white round table using the 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"tasks": ["Wipe the small orange liquid spill on the white table next to the glass using the folded brown cloth, adjusting the glass's position to access the spill."], "length": 1284, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 655, "tasks": ["Wipe the liquid spill on the table using the pink cloth, temporarily moving the white cup out of the cleaning area."], "length": 1290, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 656, "tasks": ["Spill liquid from the amber glass cup onto the table and wipe the spill using the pink cloth."], "length": 1274, "skill": "Pour / Scoop (Fluid & Granular)", "verb": "spill", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 657, "tasks": ["Wipe the water stain on the white table using the brown cloth after moving the pink glass out of the 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Beverages"} +{"episode_index": 665, "tasks": ["Wipe the surface of the white round table using the brown cloth, moving the glass of orange liquid out of the way during wiping."], "length": 1282, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 666, "tasks": ["Wipe the spilled liquid on the white table using the pink cloth after moving the white cup out of the way."], "length": 1301, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 667, "tasks": ["Wipe the liquid spill on the white table with the pink cloth after moving the white plastic cup out of the way."], "length": 1782, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 668, "tasks": ["Wipe the spilled liquid on the wooden table by lifting the paper cup out of the way, cleaning the 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"object_category": "Liquid Containers & Beverages"} +{"episode_index": 696, "tasks": ["Wipe the water stain on the white table using the brown rag after moving the clear glass cup out of the way."], "length": 1270, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 697, "tasks": ["Wipe the spilled liquid on the wooden table using the pink cloth after moving the cup aside temporarily."], "length": 1452, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 698, "tasks": ["Use the left robotic arm to pick up the transparent glass and the right robotic arm to pick up the brown towel, then place both objects back on the table and return the arms to their starting positions."], "length": 1272, "skill": "Pick & Place", "verb": "use", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 699, "tasks": ["Lift the brown glass cup and wipe the spilled liquid on the table with the pink cloth."], "length": 1298, "skill": "Move / Transport / Lift", "verb": "lift", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 700, "tasks": ["Wipe the water stain on the table with the brown cloth after moving the glass cup out of the way."], "length": 1267, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 701, "tasks": ["Lift the clear glass cup with the left robotic arm and the brown cloth with the right robotic arm, then place both objects back on the table."], "length": 1267, "skill": "Move / Transport / Lift", "verb": "lift", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 702, "tasks": ["Lift the brown cup with the left robotic arm and wipe the spilled liquid on the table with the pink cloth held by the right robotic arm."], 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cup out of the spill area."], "length": 1287, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 710, "tasks": ["Wipe the spilled liquid on the wooden table using the pink rag, moving the amber glass cup out of the way during the process."], "length": 1308, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 711, "tasks": ["Wipe the spilled water on the wooden table using the beige cleaning cloth after moving the white mug out of the way."], "length": 1480, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 712, "tasks": ["Clean the spilled water on the round white table using the brown towel."], "length": 1274, "skill": "Wipe / Clean", "verb": "clean", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 713, "tasks": ["Wipe the spilled water on the wooden table under the glass cup using the pink cloth."], "length": 1294, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 714, "tasks": ["Reposition the clear glass and brown cloth on the white round table."], "length": 1276, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 715, "tasks": ["Wipe the spilled liquid on the wooden table using the rag after moving the white mug out of the spill area."], "length": 1489, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 716, "tasks": ["Wipe the white table surface with the brown cloth after lifting the clear glass cup out of the way, then place the cup back on the table."], "length": 1290, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 717, "tasks": ["Wipe the water stain under the amber glass on the table, then place the glass back onto the cleaned table surface."], "length": 1301, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 718, "tasks": ["Wipe the spilled water on the white table using the brown rag after repositioning the glass cup out of the way."], "length": 1275, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 719, "tasks": ["Wipe the spilled water on the wooden table using the pink cloth, then return the amber glass cup to its original position."], "length": 1605, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 720, "tasks": ["Wipe the light brown spilled liquid on the white table 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727, "tasks": ["Lift the amber cup from the table, wipe the spilled water on the table with the pink cloth, then place the cup back on the table."], "length": 1326, "skill": "Move / Transport / Lift", "verb": "lift", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 728, "tasks": ["Wipe the water stain on the white table next to the pink glass."], "length": 1275, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 729, "tasks": ["Wipe the spilled water on the wooden table with the beige cloth after moving the white cup aside, then return the cup to the table."], "length": 1398, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 730, "tasks": ["Wipe the water stain on the table under the pink glass, then return the glass and the yellow cloth to their original positions."], "length": 1269, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 731, "tasks": ["Wipe the spilled liquid on the white table using the yellow cloth after moving the glass out of the way."], "length": 1268, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 732, "tasks": ["Adjust the position of the pink glass cup with the left robotic arm and wipe the table surface with the yellow cloth using the right robotic arm."], "length": 1295, "skill": "Handover / Deliver", "verb": "adjust", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 733, "tasks": ["Wipe the spilled liquid off the wooden table using the yellow cleaning cloth."], "length": 1469, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 734, "tasks": ["Pour from the pink 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"object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 738, "tasks": ["Lift the pink glass, wipe the water droplet on the table with the yellow cloth, then return the glass and cloth to their original positions."], "length": 1296, "skill": "Move / Transport / Lift", "verb": "lift", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 739, "tasks": ["Wipe the water spill on the table using the yellow cloth after lifting the pink glass cup out of the way with the left robotic arm."], "length": 1282, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 740, "tasks": ["Wipe up the spilled water on the wooden table using the light yellow cleaning cloth."], "length": 1608, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 741, "tasks": ["Wipe the spilled liquid 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"object_category": "Liquid Containers & Beverages"} +{"episode_index": 745, "tasks": ["Wipe the spilled water on the wooden table using the white cloth while keeping the adjacent white mug steady."], "length": 1595, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 746, "tasks": ["Wipe the spilled liquid on the wooden table with the cleaning cloth, keeping the white cup lifted out of the way during cleaning."], "length": 1547, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 747, "tasks": ["Wipe the spilled liquid on the wooden table using the yellow cloth after moving the light gray mug aside."], "length": 1595, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 748, "tasks": ["Clean the spilled liquid on the wooden table."], "length": 1552, "skill": "Wipe / Clean", "verb": "clean", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 749, "tasks": ["Wipe the water puddle on the brown wooden table using the yellow cleaning cloth."], "length": 1708, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 750, "tasks": ["Reposition the white cup and wipe the wet spill on the wooden table using the yellow cleaning cloth."], "length": 1788, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 751, "tasks": ["Wipe the spilled liquid on the wooden table using the yellow cleaning cloth, adjusting the cup as needed."], "length": 1808, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 752, "tasks": ["Clean the spilled liquid on the wooden table 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"wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 763, "tasks": ["Grasp the glass of brown liquid with the left robotic arm, then wipe the spilled liquid on the table using the light blue cloth with the right robotic arm."], "length": 1274, "skill": "Pick & Place", "verb": "grasp", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 764, "tasks": ["Lift the brown glass of dark liquid, wipe the wet spot underneath it with the light blue cloth, then place the glass back onto the table."], "length": 1331, "skill": "Move / Transport / Lift", "verb": "lift", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 765, "tasks": ["Lift the brown glass, wipe the tabletop with the blue cloth, then place the glass back onto the table."], "length": 1276, "skill": "Move / Transport / Lift", "verb": "lift", "object": "glass", "object_category": "Liquid Containers & Beverages"} 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"object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 776, "tasks": ["Wipe the table surface with the blue cloth after lifting the cup to access the area beneath it."], "length": 1927, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 777, "tasks": ["Wipe the spilled brown liquid on the table using the pink cloth, after lifting the adjacent glass of brown liquid out of the way."], "length": 1248, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 778, "tasks": ["Wipe the light brown stain on the round table using the blue cloth after moving the dark blue cup aside, then return the cup to its original position."], "length": 1599, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 779, "tasks": ["Wipe the wet 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"skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 783, "tasks": ["Pour a small amount of liquid from the central glass onto the table, then wipe the spilled liquid with the pink towel."], "length": 1336, "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 784, "tasks": ["Wipe the liquid spilled from the glass using the pink cloth, then place the glass back on the table."], "length": 1253, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 785, "tasks": ["Pour a small amount of liquid from the glass onto the table, then wipe the spilled liquid with the pink cloth."], "length": 1260, "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "liquid", "object_category": "Liquid Containers & Beverages"} 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"verb": "lift", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 793, "tasks": ["Wipe the liquid stain on the table with the blue cloth after moving the dark blue cup out of the way."], "length": 1368, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 794, "tasks": ["Wipe the spilled liquid on the table using the pink cloth, after moving the glass of brown liquid out of the way."], "length": 1401, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 795, "tasks": ["Wipe the round table surface with the blue cloth using the right robotic arm, while holding the black mug off the table with the left robotic arm."], "length": 1286, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 796, "tasks": ["Pour liquid 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"verb": "lift", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 800, "tasks": ["Wipe the coffee stain on the round table using the blue cloth, moving the mug out of the way during the process."], "length": 1284, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 801, "tasks": ["Spill a small amount of liquid from the brown glass cup, wipe the spilled liquid with the pink cloth, then return the cup to the table."], "length": 1253, "skill": "Pour / Scoop (Fluid & Granular)", "verb": "spill", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 802, "tasks": ["Wipe the coffee stain on the round table using the blue cloth, moving the dark blue mug out of the way first."], "length": 1321, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 803, "tasks": ["Lift the dark gray mug from the table and wipe the liquid stain on the table using the blue cloth."], "length": 1304, "skill": "Move / Transport / Lift", "verb": "lift", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 804, "tasks": ["Wipe the spilled liquid on the table with the pink cloth, then place the amber cup back on the tabletop."], "length": 1267, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 805, "tasks": ["Wipe the liquid spill on the table using the blue cloth, then place the temporarily lifted mug back onto the table."], "length": 1289, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 806, "tasks": ["Wipe the spilled liquid under the glass of orange liquid using the pink cloth, then return the glass to its original position."], "length": 1263, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 807, "tasks": ["Wipe the liquid spill on the table using the pink cloth, then place the glass of orange liquid back on the table."], "length": 1259, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 808, "tasks": ["Move the cup with the left robotic arm, then use the right robotic arm to wipe the table with the green cloth, and finally place the cup back on the table."], "length": 1338, "skill": "Move / Transport / Lift", "verb": "move", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 809, "tasks": ["Wipe the tabletop area under the orange-liquid glass with the pink cloth, then return the glass to its original position."], "length": 1257, "skill": "Wipe / Clean", "verb": "wipe", "object": "glass", "object_category": "Liquid Containers & 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"verb": "lift", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 817, "tasks": ["Wipe the table surface under the orange liquid-filled glass using the pink rag after lifting the glass with the left robotic arm."], "length": 1253, "skill": "Wipe / Clean", "verb": "wipe", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 818, "tasks": ["Lift the white cup out of the way, wipe the table spill with the green cloth, then return the cup to the table."], "length": 1279, "skill": "Move / Transport / Lift", "verb": "lift", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 819, "tasks": ["Wipe the surface of the round white table with the turquoise cloth, after temporarily lifting the white mug to clear the workspace."], "length": 1286, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 820, 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1299, "skill": "Pick & Place", "verb": "hold", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 824, "tasks": ["Move the navy blue mug leftward then wipe the white table surface with the blue cloth."], "length": 1356, "skill": "Move / Transport / Lift", "verb": "move", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 825, "tasks": ["Lift the mug to expose table stains, wipe the stains with the blue cloth, then place the mug back onto the table."], "length": 1325, "skill": "Move / Transport / Lift", "verb": "lift", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 826, "tasks": ["Wipe the table surface with the blue cloth, holding the cup aside with the left arm, then replace the cup on the table."], "length": 1451, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 827, "tasks": ["Lift the 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"object": "tabletop", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 841, "tasks": ["Wipe the spilled brown liquid under the glass with the pink cloth, then place the glass back on the table."], "length": 1255, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 842, "tasks": ["Wipe the spilled liquid from the wooden table using the yellow cleaning cloth, repositioning the gray mug out of the way during cleaning."], "length": 1277, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 843, "tasks": ["Lift the brown glass with the left robotic arm, wipe the spilled liquid on the table with the pink cloth using the right robotic arm, then place the glass back on the table."], "length": 1255, "skill": "Move / Transport / Lift", "verb": "lift", "object": "glass", "object_category": "Liquid Containers & 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"Move / Transport / Lift", "verb": "lift", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 851, "tasks": ["Wipe the spilled brown liquid on the table using the pink cloth after lifting the brown glass out of the way."], "length": 1255, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 852, "tasks": ["Wipe the table surface with the green cloth after moving the dark blue mug aside, then return the mug to the table."], "length": 1820, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 853, "tasks": ["Lift the brown glass with the left robotic arm, wipe the spilled liquid on the table with the pink cloth using the right robotic arm, then place the glass back on the table."], "length": 1251, "skill": "Move / Transport / Lift", "verb": "lift", "object": "glass", "object_category": "Liquid 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"cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 885, "tasks": ["Wipe the brown liquid spilled from the glass using the pink cloth on the table."], "length": 1253, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 886, "tasks": ["Wipe the table surface with the pink cloth while holding the glass of brown liquid out of the way."], "length": 1256, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 887, "tasks": ["Wipe the liquid spill on the wooden table using the beige rag while holding the white mug steady."], "length": 1275, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 888, "tasks": ["Wipe the spilled liquid on the table around the brown cup using the pink cloth."], "length": 1251, "skill": "Wipe / Clean", 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"object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 910, "tasks": ["Wipe the spilled water on the wooden table using the yellow cloth while keeping the cup away from the wet area."], "length": 1282, "skill": "Wipe / Clean", "verb": "wipe", "object": "water", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 911, "tasks": ["Lift the amber liquid glass with the left robotic arm, wipe the spilled liquid on the table with the pink cloth using the right robotic arm, then replace the glass on the table."], "length": 1253, "skill": "Move / Transport / Lift", "verb": "lift", "object": "glass", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 912, "tasks": ["Wipe the surface of the round table using the green cloth after temporarily moving the beige cup out of the wiping area."], "length": 1443, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} 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"Liquid Containers & Beverages"} +{"episode_index": 991, "tasks": ["Lift the red mug from the table, wipe the table stain with the green cloth, then set the red mug back on the table."], "length": 1275, "skill": "Move / Transport / Lift", "verb": "lift", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 992, "tasks": ["Hold the red cup steady with the left robotic arm, then use the right robotic arm to wipe the water stain on the table with the green cloth."], "length": 1273, "skill": "Pick & Place", "verb": "hold", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 993, "tasks": ["Wipe the spilled liquid on the table with the green cloth after lifting the red mug out of the way."], "length": 1270, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 994, "tasks": ["Wipe the wooden tabletop using the beige cleaning cloth, adjusting 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"Furniture & Articulated Fixtures"} +{"episode_index": 1023, "tasks": ["Wipe the wooden table surface with the cloth using the right robotic arm, adjusting the white mug's position with the left robotic arm."], "length": 1477, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 1024, "tasks": ["Wipe the marked area on the table surface using the pink cloth, adjusting the white mug's position to access the area."], "length": 1283, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1025, "tasks": ["Hold the white cup stationary with the left robotic arm while wiping the table surface with a cloth using the right robotic arm."], "length": 1511, "skill": "Pick & Place", "verb": "hold", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 1026, "tasks": ["Wipe the wooden table surface with the 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1030, "tasks": ["Wipe the wooden table surface with a cleaning cloth while keeping the white mug stationary on the table."], "length": 1431, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 1031, "tasks": ["Move the white mug to the left side of the table, then wipe the table surface with the pink cloth."], "length": 1866, "skill": "Move / Transport / Lift", "verb": "move", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1032, "tasks": ["Lift the white mug, wipe the underlying table surface with the pink cloth, then replace the mug."], "length": 1720, "skill": "Move / Transport / Lift", "verb": "lift", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1033, "tasks": ["Adjust the position of the white mug then wipe the table's water stain with the cleaning cloth."], "length": 1599, "skill": "Handover / Deliver", "verb": "adjust", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1034, "tasks": ["Adjust the position of the white cup with the left robotic arm, then wipe the wooden table using the yellow-edged cloth with the right robotic arm."], "length": 1391, "skill": "Handover / Deliver", "verb": "adjust", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1035, "tasks": ["Adjust the white mug's position with the left robotic arm, then wipe the wooden tabletop using the cloth with the right robotic arm."], "length": 1328, "skill": "Handover / Deliver", "verb": "adjust", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1036, "tasks": ["Move the white mug leftward and wipe the wooden table surface with the cleaning cloth."], "length": 1391, "skill": "Move / Transport / Lift", "verb": "move", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 1037, "tasks": ["Hold 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"skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 1041, "tasks": ["Lift the left cup with the left robotic arm while the right robotic arm wipes the table using the right rag."], "length": 1511, "skill": "Move / Transport / Lift", "verb": "lift", "object": "cup", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1042, "tasks": ["Wipe the light wooden table surface using the cleaning cloth while holding the mug out of the wiping path."], "length": 1320, "skill": "Wipe / Clean", "verb": "wipe", "object": "light", "object_category": "Household Appliances & Electronics"} +{"episode_index": 1043, "tasks": ["Wipe the wooden table surface using the rag after lifting the mug out of the way, then return the mug to the table."], "length": 1573, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1044, "tasks": ["Adjust the position of the white mug, then wipe the wet stain on the wooden table using the cleaning cloth."], "length": 1602, "skill": "Open / Close / Device Op", "verb": "adjust", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1045, "tasks": ["Wipe the surface of the wooden table after repositioning the white mug to clear the wiping area."], "length": 1781, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1046, "tasks": ["Wipe the wooden table surface using the light yellow cleaning cloth after adjusting the white mug to clear the wiping area."], "length": 1755, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1047, "tasks": ["Wipe the wooden table surface with the gray cloth while moving the white mug out of the way during the process."], "length": 1702, "skill": "Wipe / 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"object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1181, "tasks": ["Wipe the wooden tabletop with the cloth after adjusting the mug's position to clear space."], "length": 1279, "skill": "Wipe / Clean", "verb": "wipe", "object": "tabletop", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1182, "tasks": ["Lift the red mug, wipe the liquid spill on the table with the pink cloth, then place the red mug back on the table."], "length": 1297, "skill": "Move / Transport / Lift", "verb": "lift", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1183, "tasks": ["Wipe the brown liquid spill on the wooden table using the beige cleaning cloth, and adjust the position of the white cup."], "length": 1282, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1184, "tasks": ["Wipe the spilled liquid stain on the wooden 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"pick", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1188, "tasks": ["Wipe the liquid stain on the wooden table using the cloth after adjusting the position of the white mug."], "length": 1278, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1189, "tasks": ["Wipe the spilled brown liquid on the wooden table using the beige cloth after adjusting the white mug's position."], "length": 1270, "skill": "Wipe / Clean", "verb": "wipe", "object": "liquid", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1190, "tasks": ["Wipe the brown liquid stain on the wooden table using the yellow cleaning cloth after repositioning the white cup."], "length": 1358, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1191, "tasks": ["Move the folded pink cloth to a new position 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["Wipe the wet stain on the wooden table using the cloth after moving the mug aside, then return the mug to its original position."], "length": 1273, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1213, "tasks": ["Wipe the liquid stain on the round wooden table using the beige cloth, adjusting the white mug's position as needed."], "length": 1282, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1214, "tasks": ["Relocate the white mug away from the liquid stain, then wipe the brown stain on the wooden table using the beige cloth."], "length": 1374, "skill": "Move / Transport / Lift", "verb": "relocate", "object": "mug", "object_category": "Liquid Containers & Beverages"} +{"episode_index": 1215, "tasks": ["Wipe the wet stains on the wooden table using the cleaning cloth, adjusting the mug's position to clean the area 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"object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1230, "tasks": ["Wipe the wooden table surface with the beige cloth, holding the white mug aloft to avoid obstruction, then return the mug to the table."], "length": 1602, "skill": "Wipe / Clean", "verb": "wipe", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"} +{"episode_index": 1231, "tasks": ["Wipe the wooden table surface using the beige cloth while holding the white cup steady."], "length": 1471, "skill": "Wipe / Clean", "verb": "wipe", "object": "table", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1232, "tasks": ["Wipe the wooden tabletop with the cleaning cloth while holding the mug out of the way, then return the mug to the table."], "length": 1546, "skill": "Wipe / Clean", "verb": "wipe", "object": "tabletop", "object_category": "Furniture & Articulated Fixtures"} +{"episode_index": 1233, "tasks": ["Lift the white mug and wipe the 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