Datasets:
| {"subtask_index": 0, "subtask": "use the left arm to pick up a blue teacup."} | |
| {"subtask_index": 1, "subtask": "Grasp the bowl with the left gripper."} | |
| {"subtask_index": 2, "subtask": "use the right arm to pick up a blue rice bowl."} | |
| {"subtask_index": 3, "subtask": "Place the bowl on the plate with the left gripper."} | |
| {"subtask_index": 4, "subtask": "use the left arm to place the blue soup spoon into the blue teacup in the middle."} | |
| {"subtask_index": 5, "subtask": "Grasp the spoon with the left gripper."} | |
| {"subtask_index": 6, "subtask": "Place the spoon on the cup with the left gripper."} | |
| {"subtask_index": 7, "subtask": "use the right arm to place the blue soup spoon on the blue large plate in the middle."} | |
| {"subtask_index": 8, "subtask": "use the left arm to place the blue teacup into the blue rice bowl in the middle."} | |
| {"subtask_index": 9, "subtask": "Grasp the cup with the left gripper."} | |
| {"subtask_index": 10, "subtask": "use the right arm to place the blue soup spoon into the blue teacup in the middle."} | |
| {"subtask_index": 11, "subtask": "use the right arm to place the blue teacup into the blue rice bowl in the middle."} | |
| {"subtask_index": 12, "subtask": "use the left arm to pick up a blue rice bowl."} | |
| {"subtask_index": 13, "subtask": "use the right arm to pick up a blue teacup."} | |
| {"subtask_index": 14, "subtask": "Place the spoon on the cup with the right gripper."} | |
| {"subtask_index": 15, "subtask": "use the right arm to place the blue rice bowl into the blue large plate in the middle."} | |
| {"subtask_index": 16, "subtask": "abnormal."} | |
| {"subtask_index": 17, "subtask": "Grasp the cup with the right gripper."} | |
| {"subtask_index": 18, "subtask": "use the right arm to pick up a blue soup spoon."} | |
| {"subtask_index": 19, "subtask": "Grasp the bowl with the right gripper."} | |
| {"subtask_index": 20, "subtask": "Grasp the spoon with the right gripper."} | |
| {"subtask_index": 21, "subtask": "Place the cup on the bowl with the right gripper."} | |
| {"subtask_index": 22, "subtask": "Place the cup on the bowl with the left gripper."} | |
| {"subtask_index": 23, "subtask": "use the left arm to pick up a blue soup spoon."} | |
| {"subtask_index": 24, "subtask": "End."} | |
| {"subtask_index": 25, "subtask": "Place the bowl on the plate with the right gripper."} | |
| {"subtask_index": 26, "subtask": "use the left arm to place the blue rice bowl into the blue large plate in the middle."} | |
| {"subtask_index": 27, "subtask": "null."} | |