RoboPulsePlusPlus.jsonl

{"episode_id": 1, "image_dir": "images/ep001", "total_frames": 17, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}], "task_instruction": "Pick up the book and place it in the back compartment of the caddy."}
{"episode_id": 2, "image_dir": "images/ep002", "total_frames": 21, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 12, "reward_label": 0}, {"start_frame": 12, "end_frame": 20, "reward_label": 1}], "task_instruction": "Pick up the book and place it in the back compartment of the caddy."}
{"episode_id": 3, "image_dir": "images/ep003", "total_frames": 52, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 22, "reward_label": 0}, {"start_frame": 22, "end_frame": 33, "reward_label": 1}, {"start_frame": 33, "end_frame": 41, "reward_label": 1}, {"start_frame": 41, "end_frame": 51, "reward_label": 0}], "task_instruction": "Put both moka pots on the stove."}
{"episode_id": 4, "image_dir": "images/ep004", "total_frames": 52, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 44, "reward_label": 0}, {"start_frame": 44, "end_frame": 51, "reward_label": 1}], "task_instruction": "Put both moka pots on the stove."}
{"episode_id": 5, "image_dir": "images/ep005", "total_frames": 43, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 29, "reward_label": 1}, {"start_frame": 29, "end_frame": 42, "reward_label": 0}], "task_instruction": "Put both the alphabet soup and the cream cheese box in the basket."}
{"episode_id": 6, "image_dir": "images/ep006", "total_frames": 52, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 14, "reward_label": 0}, {"start_frame": 14, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 51, "reward_label": 0}], "task_instruction": "Put both the alphabet soup and the cream cheese box in the basket."}
{"episode_id": 7, "image_dir": "images/ep007", "total_frames": 31, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 15, "reward_label": 0}, {"start_frame": 15, "end_frame": 30, "reward_label": 1}], "task_instruction": "Put both the alphabet soup and the cream cheese box in the basket."}
{"episode_id": 8, "image_dir": "images/ep008", "total_frames": 32, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 8, "reward_label": 0}, {"start_frame": 8, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 19, "reward_label": 0}, {"start_frame": 19, "end_frame": 31, "reward_label": 1}], "task_instruction": "Put both the alphabet soup and the tomato sauce in the basket."}
{"episode_id": 9, "image_dir": "images/ep009", "total_frames": 32, "num_segments": 7, "segments": [{"start_frame": 0, "end_frame": 1, "reward_label": 0}, {"start_frame": 1, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 15, "reward_label": 0}, {"start_frame": 15, "end_frame": 21, "reward_label": 1}, {"start_frame": 21, "end_frame": 22, "reward_label": 0}, {"start_frame": 22, "end_frame": 27, "reward_label": 1}, {"start_frame": 27, "end_frame": 31, "reward_label": 0}], "task_instruction": "Put both the alphabet soup and the tomato sauce in the basket."}
{"episode_id": 10, "image_dir": "images/ep010", "total_frames": 52, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 51, "reward_label": 0}], "task_instruction": "Put the black bowl in the bottom drawer of the cabinet and close it."}
{"episode_id": 11, "image_dir": "images/ep011", "total_frames": 24, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 23, "reward_label": 1}], "task_instruction": "Put the black bowl in the bottom drawer of the cabinet and close it."}
{"episode_id": 12, "image_dir": "images/ep012", "total_frames": 36, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 20, "reward_label": 1}, {"start_frame": 20, "end_frame": 29, "reward_label": 0}, {"start_frame": 29, "end_frame": 35, "reward_label": 1}], "task_instruction": "Put the black bowl in the bottom drawer of the cabinet and close it."}
{"episode_id": 13, "image_dir": "images/ep013", "total_frames": 52, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 51, "reward_label": 0}], "task_instruction": "Put the black bowl in the bottom drawer of the cabinet and close it."}
{"episode_id": 14, "image_dir": "images/ep014", "total_frames": 21, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 20, "reward_label": 1}], "task_instruction": "Put the white mug on the left plate and put the yellow and white mug on the right plate."}
{"episode_id": 15, "image_dir": "images/ep015", "total_frames": 52, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 16, "reward_label": -1}, {"start_frame": 16, "end_frame": 51, "reward_label": 0}], "task_instruction": "Put the white mug on the left plate and put the yellow and white mug on the right plate."}
{"episode_id": 16, "image_dir": "images/ep016", "total_frames": 52, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 20, "reward_label": 1}, {"start_frame": 20, "end_frame": 37, "reward_label": 0}, {"start_frame": 37, "end_frame": 40, "reward_label": 1}, {"start_frame": 40, "end_frame": 51, "reward_label": 0}], "task_instruction": "Put the white mug on the left plate and put the yellow and white mug on the right plate."}
{"episode_id": 17, "image_dir": "images/ep017", "total_frames": 52, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 21, "reward_label": 1}, {"start_frame": 21, "end_frame": 51, "reward_label": 0}], "task_instruction": "Put the white mug on the plate and put the chocolate pudding to the right of the plate."}
{"episode_id": 18, "image_dir": "images/ep018", "total_frames": 30, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 29, "reward_label": 1}], "task_instruction": "Put the white mug on the plate and put the chocolate pudding to the right of the plate."}
{"episode_id": 19, "image_dir": "images/ep019", "total_frames": 52, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 23, "reward_label": 0}, {"start_frame": 23, "end_frame": 37, "reward_label": 1}, {"start_frame": 37, "end_frame": 51, "reward_label": -1}], "task_instruction": "Put the white mug on the plate and put the chocolate pudding to the right of the plate."}
{"episode_id": 20, "image_dir": "images/ep020", "total_frames": 24, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 16, "reward_label": 0}, {"start_frame": 16, "end_frame": 23, "reward_label": 1}], "task_instruction": "Put the white mug on the plate and put the chocolate pudding to the right of the plate."}
{"episode_id": 21, "image_dir": "images/ep021", "total_frames": 52, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 51, "reward_label": -1}], "task_instruction": "Put the yellow and white mug in the microwave and close it."}
{"episode_id": 22, "image_dir": "images/ep022", "total_frames": 52, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 30, "reward_label": 1}, {"start_frame": 30, "end_frame": 51, "reward_label": 0}], "task_instruction": "Turn on the stove and put the moka pot on it."}
{"episode_id": 23, "image_dir": "images/ep023", "total_frames": 25, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 24, "reward_label": 1}], "task_instruction": "Turn on the stove and put the moka pot on it."}
{"episode_id": 24, "image_dir": "images/ep024", "total_frames": 25, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 24, "reward_label": 1}], "task_instruction": "Turn on the stove and put the moka pot on it."}
{"episode_id": 25, "image_dir": "images/ep025", "total_frames": 52, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 24, "reward_label": 1}, {"start_frame": 24, "end_frame": 51, "reward_label": 0}], "task_instruction": "Turn on the stove and put the moka pot on it."}
{"episode_id": 26, "image_dir": "images/ep026", "total_frames": 24, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 17, "reward_label": 0}, {"start_frame": 17, "end_frame": 23, "reward_label": 1}], "task_instruction": "Open the middle drawer of the cabinet."}
{"episode_id": 27, "image_dir": "images/ep027", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "Open the middle drawer of the cabinet."}
{"episode_id": 28, "image_dir": "images/ep028", "total_frames": 30, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 29, "reward_label": 0}], "task_instruction": "Open the middle drawer of the cabinet."}
{"episode_id": 29, "image_dir": "images/ep029", "total_frames": 30, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 19, "reward_label": -1}, {"start_frame": 19, "end_frame": 29, "reward_label": 0}], "task_instruction": "Open the top drawer and put the bowl inside."}
{"episode_id": 30, "image_dir": "images/ep030", "total_frames": 18, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}], "task_instruction": "Open the top drawer and put the bowl inside."}
{"episode_id": 31, "image_dir": "images/ep031", "total_frames": 18, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}], "task_instruction": "Open the top drawer and put the bowl inside."}
{"episode_id": 32, "image_dir": "images/ep032", "total_frames": 30, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 21, "reward_label": -1}, {"start_frame": 21, "end_frame": 29, "reward_label": 0}], "task_instruction": "Open the top drawer and put the bowl inside."}
{"episode_id": 33, "image_dir": "images/ep033", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Push the plate to the front of the stove."}
{"episode_id": 34, "image_dir": "images/ep034", "total_frames": 30, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 29, "reward_label": 0}], "task_instruction": "Push the plate to the front of the stove."}
{"episode_id": 35, "image_dir": "images/ep035", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Push the plate to the front of the stove."}
{"episode_id": 36, "image_dir": "images/ep036", "total_frames": 8, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}], "task_instruction": "Put the bowl on the plate."}
{"episode_id": 37, "image_dir": "images/ep037", "total_frames": 8, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}], "task_instruction": "Put the bowl on the plate."}
{"episode_id": 38, "image_dir": "images/ep038", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Put the bowl on the stove."}
{"episode_id": 39, "image_dir": "images/ep039", "total_frames": 8, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}], "task_instruction": "Put the bowl on the stove."}
{"episode_id": 40, "image_dir": "images/ep040", "total_frames": 30, "num_segments": 8, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 6, "reward_label": -1}, {"start_frame": 6, "end_frame": 7, "reward_label": -1}, {"start_frame": 7, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 10, "reward_label": -1}, {"start_frame": 10, "end_frame": 13, "reward_label": -1}, {"start_frame": 13, "end_frame": 25, "reward_label": 0}, {"start_frame": 25, "end_frame": 29, "reward_label": 0}], "task_instruction": "Put the bowl on the stove."}
{"episode_id": 41, "image_dir": "images/ep041", "total_frames": 30, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 10, "reward_label": -1}, {"start_frame": 10, "end_frame": 29, "reward_label": 0}], "task_instruction": "Put the bowl on the stove."}
{"episode_id": 42, "image_dir": "images/ep042", "total_frames": 30, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 29, "reward_label": 0}], "task_instruction": "Put the bowl on top of the cabinet."}
{"episode_id": 43, "image_dir": "images/ep043", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 8, "reward_label": 1}], "task_instruction": "Put the bowl on top of the cabinet."}
{"episode_id": 44, "image_dir": "images/ep044", "total_frames": 9, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}], "task_instruction": "Put the bowl on top of the cabinet."}
{"episode_id": 45, "image_dir": "images/ep045", "total_frames": 30, "num_segments": 8, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 7, "reward_label": -1}, {"start_frame": 7, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 11, "reward_label": -1}, {"start_frame": 11, "end_frame": 13, "reward_label": 0}, {"start_frame": 13, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 19, "reward_label": -1}, {"start_frame": 19, "end_frame": 29, "reward_label": 1}], "task_instruction": "Put the bowl on top of the cabinet."}
{"episode_id": 46, "image_dir": "images/ep046", "total_frames": 11, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}], "task_instruction": "Put the cream cheese in the bowl."}
{"episode_id": 47, "image_dir": "images/ep047", "total_frames": 9, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}], "task_instruction": "Put the cream cheese in the bowl."}
{"episode_id": 48, "image_dir": "images/ep048", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Put the wine bottle on the rack."}
{"episode_id": 49, "image_dir": "images/ep049", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Put the wine bottle on top of the cabinet."}
{"episode_id": 50, "image_dir": "images/ep050", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Put the wine bottle on top of the cabinet."}
{"episode_id": 51, "image_dir": "images/ep051", "total_frames": 30, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 20, "reward_label": -1}, {"start_frame": 20, "end_frame": 29, "reward_label": 0}], "task_instruction": "Put the wine bottle on top of the cabinet."}
{"episode_id": 52, "image_dir": "images/ep052", "total_frames": 9, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}], "task_instruction": "Turn on the stove."}
{"episode_id": 53, "image_dir": "images/ep053", "total_frames": 8, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}], "task_instruction": "Turn on the stove."}
{"episode_id": 54, "image_dir": "images/ep054", "total_frames": 28, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 27, "reward_label": 0}], "task_instruction": "Pick up the alphabet soup and place it in the basket."}
{"episode_id": 55, "image_dir": "images/ep055", "total_frames": 21, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 20, "reward_label": 0}], "task_instruction": "Pick up the alphabet soup and place it in the basket."}
{"episode_id": 56, "image_dir": "images/ep056", "total_frames": 21, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 20, "reward_label": 0}], "task_instruction": "Pick up the alphabet soup and place it in the basket."}
{"episode_id": 57, "image_dir": "images/ep057", "total_frames": 28, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 27, "reward_label": 0}], "task_instruction": "Pick up the alphabet soup and place it in the basket."}
{"episode_id": 58, "image_dir": "images/ep058", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "Pick up the bbq sauce and place it in the basket."}
{"episode_id": 59, "image_dir": "images/ep059", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "Pick up the bbq sauce and place it in the basket."}
{"episode_id": 60, "image_dir": "images/ep060", "total_frames": 28, "num_segments": 7, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": 0}, {"start_frame": 9, "end_frame": 16, "reward_label": 0}, {"start_frame": 16, "end_frame": 19, "reward_label": 0}, {"start_frame": 19, "end_frame": 23, "reward_label": 1}, {"start_frame": 23, "end_frame": 24, "reward_label": -1}, {"start_frame": 24, "end_frame": 27, "reward_label": 1}], "task_instruction": "Pick up the bbq sauce and place it in the basket."}
{"episode_id": 61, "image_dir": "images/ep061", "total_frames": 28, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 11, "reward_label": -1}, {"start_frame": 11, "end_frame": 15, "reward_label": -1}, {"start_frame": 15, "end_frame": 27, "reward_label": 0}], "task_instruction": "Pick up the bbq sauce and place it in the basket."}
{"episode_id": 62, "image_dir": "images/ep062", "total_frames": 18, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}], "task_instruction": "Pick up the butter and place it in the basket."}
{"episode_id": 63, "image_dir": "images/ep063", "total_frames": 28, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 27, "reward_label": 0}], "task_instruction": "Pick up the butter and place it in the basket."}
{"episode_id": 64, "image_dir": "images/ep064", "total_frames": 28, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 27, "reward_label": 0}], "task_instruction": "Pick up the chocolate pudding and place it in the basket."}
{"episode_id": 65, "image_dir": "images/ep065", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 15, "reward_label": 0}], "task_instruction": "Pick up the chocolate pudding and place it in the basket."}
{"episode_id": 66, "image_dir": "images/ep066", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 18, "reward_label": 0}], "task_instruction": "Pick up the chocolate pudding and place it in the basket."}
{"episode_id": 67, "image_dir": "images/ep067", "total_frames": 28, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 27, "reward_label": 0}], "task_instruction": "Pick up the cream cheese and place it in the basket."}
{"episode_id": 68, "image_dir": "images/ep068", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Pick up the cream cheese and place it in the basket."}
{"episode_id": 69, "image_dir": "images/ep069", "total_frames": 28, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 27, "reward_label": 0}], "task_instruction": "Pick up the cream cheese and place it in the basket."}
{"episode_id": 70, "image_dir": "images/ep070", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 15, "reward_label": 0}], "task_instruction": "Pick up the cream cheese and place it in the basket."}
{"episode_id": 71, "image_dir": "images/ep071", "total_frames": 16, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 6, "reward_label": 0}, {"start_frame": 6, "end_frame": 15, "reward_label": 1}], "task_instruction": "Pick up the ketchup and place it in the basket."}
{"episode_id": 72, "image_dir": "images/ep072", "total_frames": 28, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": 0}, {"start_frame": 8, "end_frame": 13, "reward_label": -1}, {"start_frame": 13, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 27, "reward_label": -1}], "task_instruction": "Pick up the ketchup and place it in the basket."}
{"episode_id": 73, "image_dir": "images/ep073", "total_frames": 28, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 7, "reward_label": 0}, {"start_frame": 7, "end_frame": 15, "reward_label": -1}, {"start_frame": 15, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 27, "reward_label": -1}], "task_instruction": "Pick up the ketchup and place it in the basket."}
{"episode_id": 74, "image_dir": "images/ep074", "total_frames": 15, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}], "task_instruction": "Pick up the ketchup and place it in the basket."}
{"episode_id": 75, "image_dir": "images/ep075", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "Pick up the milk and place it in the basket."}
{"episode_id": 76, "image_dir": "images/ep076", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Pick up the milk and place it in the basket."}
{"episode_id": 77, "image_dir": "images/ep077", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Pick up the orange juice and place it in the basket."}
{"episode_id": 78, "image_dir": "images/ep078", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "Pick up the orange juice and place it in the basket."}
{"episode_id": 79, "image_dir": "images/ep079", "total_frames": 18, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 11, "reward_label": 0}, {"start_frame": 11, "end_frame": 17, "reward_label": 1}], "task_instruction": "Pick up the salad dressing and place it in the basket."}
{"episode_id": 80, "image_dir": "images/ep080", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Pick up the salad dressing and place it in the basket."}
{"episode_id": 81, "image_dir": "images/ep081", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "Pick up the tomato sauce and place it in the basket."}
{"episode_id": 82, "image_dir": "images/ep082", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Pick up the tomato sauce and place it in the basket."}
{"episode_id": 83, "image_dir": "images/ep083", "total_frames": 8, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}], "task_instruction": "Pick up the black bowl between the plate and the ramekin and place it on the plate."}
{"episode_id": 84, "image_dir": "images/ep084", "total_frames": 8, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}], "task_instruction": "Pick up the black bowl between the plate and the ramekin and place it on the plate."}
{"episode_id": 85, "image_dir": "images/ep085", "total_frames": 22, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}, {"start_frame": 9, "end_frame": 21, "reward_label": 0}], "task_instruction": "Pick up the black bowl between the plate and the ramekin and place it on the plate."}
{"episode_id": 86, "image_dir": "images/ep086", "total_frames": 22, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 6, "reward_label": -1}, {"start_frame": 6, "end_frame": 14, "reward_label": 0}, {"start_frame": 14, "end_frame": 21, "reward_label": 1}], "task_instruction": "Pick up the black bowl between the plate and the ramekin and place it on the plate."}
{"episode_id": 87, "image_dir": "images/ep087", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 10, "reward_label": 1}], "task_instruction": "Pick up the black bowl from table center and place it on the plate."}
{"episode_id": 88, "image_dir": "images/ep088", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Pick up the black bowl from table center and place it on the plate."}
{"episode_id": 89, "image_dir": "images/ep089", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate."}
{"episode_id": 90, "image_dir": "images/ep090", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate."}
{"episode_id": 91, "image_dir": "images/ep091", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 21, "reward_label": -1}], "task_instruction": "Pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate."}
{"episode_id": 92, "image_dir": "images/ep092", "total_frames": 22, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 12, "reward_label": -1}, {"start_frame": 12, "end_frame": 21, "reward_label": 0}], "task_instruction": "Pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate."}
{"episode_id": 93, "image_dir": "images/ep093", "total_frames": 11, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}], "task_instruction": "Pick up the black bowl next to the cookie box and place it on the plate."}
{"episode_id": 94, "image_dir": "images/ep094", "total_frames": 11, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}], "task_instruction": "Pick up the black bowl next to the cookie box and place it on the plate."}
{"episode_id": 95, "image_dir": "images/ep095", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Pick up the black bowl next to the plate and place it on the plate."}
{"episode_id": 96, "image_dir": "images/ep096", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Pick up the black bowl next to the plate and place it on the plate."}
{"episode_id": 97, "image_dir": "images/ep097", "total_frames": 11, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}], "task_instruction": "Pick up the black bowl next to the ramekin and place it on the plate."}
{"episode_id": 98, "image_dir": "images/ep098", "total_frames": 11, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}], "task_instruction": "Pick up the black bowl next to the ramekin and place it on the plate."}
{"episode_id": 99, "image_dir": "images/ep099", "total_frames": 22, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 10, "reward_label": -1}, {"start_frame": 10, "end_frame": 21, "reward_label": 1}], "task_instruction": "Pick up the black bowl next to the ramekin and place it on the plate."}
{"episode_id": 100, "image_dir": "images/ep100", "total_frames": 9, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}], "task_instruction": "Pick up the black bowl on the cookie box and place it on the plate."}
{"episode_id": 101, "image_dir": "images/ep101", "total_frames": 8, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}], "task_instruction": "Pick up the black bowl on the cookie box and place it on the plate."}
{"episode_id": 102, "image_dir": "images/ep102", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Pick up the black bowl on the ramekin and place it on the plate."}
{"episode_id": 103, "image_dir": "images/ep103", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Pick up the black bowl on the ramekin and place it on the plate."}
{"episode_id": 104, "image_dir": "images/ep104", "total_frames": 22, "num_segments": 6, "segments": [{"start_frame": 0, "end_frame": 1, "reward_label": 1}, {"start_frame": 1, "end_frame": 6, "reward_label": -1}, {"start_frame": 6, "end_frame": 9, "reward_label": -1}, {"start_frame": 9, "end_frame": 14, "reward_label": 0}, {"start_frame": 14, "end_frame": 19, "reward_label": -1}, {"start_frame": 19, "end_frame": 21, "reward_label": 0}], "task_instruction": "Pick up the black bowl on the ramekin and place it on the plate."}
{"episode_id": 105, "image_dir": "images/ep105", "total_frames": 22, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}, {"start_frame": 9, "end_frame": 10, "reward_label": -1}, {"start_frame": 10, "end_frame": 21, "reward_label": 0}], "task_instruction": "Pick up the black bowl on the ramekin and place it on the plate."}
{"episode_id": 106, "image_dir": "images/ep106", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Pick up the black bowl on the stove and place it on the plate."}
{"episode_id": 107, "image_dir": "images/ep107", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Pick up the black bowl on the stove and place it on the plate."}
{"episode_id": 108, "image_dir": "images/ep108", "total_frames": 22, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 14, "reward_label": -1}, {"start_frame": 14, "end_frame": 21, "reward_label": 0}], "task_instruction": "Pick up the black bowl on the stove and place it on the plate."}
{"episode_id": 109, "image_dir": "images/ep109", "total_frames": 22, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 21, "reward_label": 0}], "task_instruction": "Pick up the black bowl on the wooden cabinet and place it on the plate."}
{"episode_id": 110, "image_dir": "images/ep110", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Pick up the black bowl on the wooden cabinet and place it on the plate."}
{"episode_id": 111, "image_dir": "images/ep111", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Pick up the black bowl on the wooden cabinet and place it on the plate."}
{"episode_id": 112, "image_dir": "images/ep112", "total_frames": 75, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 29, "reward_label": -1}, {"start_frame": 29, "end_frame": 74, "reward_label": 0}], "task_instruction": "Close the left drawer."}
{"episode_id": 113, "image_dir": "images/ep113", "total_frames": 75, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 26, "reward_label": 1}, {"start_frame": 26, "end_frame": 35, "reward_label": 1}, {"start_frame": 35, "end_frame": 49, "reward_label": -1}, {"start_frame": 49, "end_frame": 74, "reward_label": 0}], "task_instruction": "Close the cabinet door."}
{"episode_id": 114, "image_dir": "images/ep114", "total_frames": 75, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 28, "reward_label": -1}, {"start_frame": 28, "end_frame": 74, "reward_label": 0}], "task_instruction": "Close the microwave door."}
{"episode_id": 115, "image_dir": "images/ep115", "total_frames": 23, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 22, "reward_label": 1}], "task_instruction": "Close the microwave door."}
{"episode_id": 116, "image_dir": "images/ep116", "total_frames": 23, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 22, "reward_label": 1}], "task_instruction": "Close the microwave door."}
{"episode_id": 117, "image_dir": "images/ep117", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Press the button on the coffee machine to serve coffee."}
{"episode_id": 118, "image_dir": "images/ep118", "total_frames": 90, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 9, "reward_label": -1}, {"start_frame": 9, "end_frame": 89, "reward_label": 0}], "task_instruction": "Pick the mug from the counter and place it under the coffee machine dispenser."}
{"episode_id": 119, "image_dir": "images/ep119", "total_frames": 75, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 74, "reward_label": -1}], "task_instruction": "Open the right drawer."}
{"episode_id": 120, "image_dir": "images/ep120", "total_frames": 23, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 22, "reward_label": 1}], "task_instruction": "Open the left drawer."}
{"episode_id": 121, "image_dir": "images/ep121", "total_frames": 75, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 50, "reward_label": -1}, {"start_frame": 50, "end_frame": 74, "reward_label": 0}], "task_instruction": "Open the microwave door."}
{"episode_id": 122, "image_dir": "images/ep122", "total_frames": 75, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 18, "reward_label": -1}, {"start_frame": 18, "end_frame": 73, "reward_label": 0}, {"start_frame": 73, "end_frame": 74, "reward_label": 0}], "task_instruction": "Pick the jam from the counter and place it in the cabinet."}
{"episode_id": 123, "image_dir": "images/ep123", "total_frames": 90, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 89, "reward_label": 0}], "task_instruction": "Pick the carrot from the counter and place it in the microwave."}
{"episode_id": 124, "image_dir": "images/ep124", "total_frames": 75, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 74, "reward_label": 0}], "task_instruction": "Pick the lime from the plate and place it in the pan."}
{"episode_id": 125, "image_dir": "images/ep125", "total_frames": 75, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 74, "reward_label": 0}], "task_instruction": "Pick the sweet potato from the plate and place it in the pan."}
{"episode_id": 126, "image_dir": "images/ep126", "total_frames": 75, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 74, "reward_label": 0}], "task_instruction": "Pick the bell pepper from the microwave and place it on plate located on the counter."}
{"episode_id": 127, "image_dir": "images/ep127", "total_frames": 75, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 23, "reward_label": 1}, {"start_frame": 23, "end_frame": 45, "reward_label": 0}, {"start_frame": 45, "end_frame": 74, "reward_label": -1}], "task_instruction": "Pick the fish from the sink and place it on the plate located on the counter."}
{"episode_id": 128, "image_dir": "images/ep128", "total_frames": 73, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 22, "reward_label": 1}, {"start_frame": 22, "end_frame": 72, "reward_label": 0}], "task_instruction": "Pick the steak from the pan and place it in the bowl."}
{"episode_id": 129, "image_dir": "images/ep129", "total_frames": 75, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 63, "reward_label": -1}, {"start_frame": 63, "end_frame": 64, "reward_label": -1}, {"start_frame": 64, "end_frame": 74, "reward_label": 0}], "task_instruction": "Pick the tomato from the pan and place it in the bowl."}
{"episode_id": 130, "image_dir": "images/ep130", "total_frames": 24, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 22, "reward_label": 1}, {"start_frame": 22, "end_frame": 23, "reward_label": 1}], "task_instruction": "Press the stop button on the microwave."}
{"episode_id": 131, "image_dir": "images/ep131", "total_frames": 22, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 21, "reward_label": 1}], "task_instruction": "Press the stop button on the microwave."}
{"episode_id": 132, "image_dir": "images/ep132", "total_frames": 75, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 23, "reward_label": 1}, {"start_frame": 23, "end_frame": 27, "reward_label": -1}, {"start_frame": 27, "end_frame": 74, "reward_label": 0}], "task_instruction": "Press the stop button on the microwave."}
{"episode_id": 133, "image_dir": "images/ep133", "total_frames": 75, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 30, "reward_label": 1}, {"start_frame": 30, "end_frame": 36, "reward_label": -1}, {"start_frame": 36, "end_frame": 74, "reward_label": 0}], "task_instruction": "Press the stop button on the microwave."}
{"episode_id": 134, "image_dir": "images/ep134", "total_frames": 75, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 34, "reward_label": 1}, {"start_frame": 34, "end_frame": 37, "reward_label": 0}, {"start_frame": 37, "end_frame": 41, "reward_label": -1}, {"start_frame": 41, "end_frame": 73, "reward_label": 0}, {"start_frame": 73, "end_frame": 74, "reward_label": 0}], "task_instruction": "Press the stop button on the microwave."}
{"episode_id": 135, "image_dir": "images/ep135", "total_frames": 38, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 21, "reward_label": 1}, {"start_frame": 21, "end_frame": 28, "reward_label": 0}, {"start_frame": 28, "end_frame": 37, "reward_label": 1}], "task_instruction": "Turn off the front left burner of the stove."}
{"episode_id": 136, "image_dir": "images/ep136", "total_frames": 20, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}], "task_instruction": "Press the start button on the microwave."}
{"episode_id": 137, "image_dir": "images/ep137", "total_frames": 75, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 22, "reward_label": -1}, {"start_frame": 22, "end_frame": 74, "reward_label": 0}], "task_instruction": "Press the start button on the microwave."}
{"episode_id": 138, "image_dir": "images/ep138", "total_frames": 23, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 22, "reward_label": 1}], "task_instruction": "Turn on the sink faucet."}
{"episode_id": 139, "image_dir": "images/ep139", "total_frames": 75, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 18, "reward_label": -1}, {"start_frame": 18, "end_frame": 74, "reward_label": 0}], "task_instruction": "Turn on the sink faucet."}
{"episode_id": 140, "image_dir": "images/ep140", "total_frames": 75, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 74, "reward_label": 0}], "task_instruction": "Turn on the rear left burner of the stove."}
{"episode_id": 141, "image_dir": "images/ep141", "total_frames": 18, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}], "task_instruction": "Turn on the rear right burner of the stove."}
{"episode_id": 142, "image_dir": "images/ep142", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Turn the sink spout to the left."}
{"episode_id": 143, "image_dir": "images/ep143", "total_frames": 18, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}], "task_instruction": "Turn the sink spout to the right."}
{"episode_id": 144, "image_dir": "images/ep144", "total_frames": 75, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 28, "reward_label": -1}, {"start_frame": 28, "end_frame": 61, "reward_label": -1}, {"start_frame": 61, "end_frame": 74, "reward_label": 0}], "task_instruction": "Turn the sink spout to the left."}
{"episode_id": 145, "image_dir": "images/ep145", "total_frames": 75, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 74, "reward_label": 0}], "task_instruction": "Turn the sink spout to the right."}
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{"episode_id": 223, "image_dir": "images/ep223", "total_frames": 103, "num_segments": 75, "segments": [{"start_frame": 0, "end_frame": 1, "reward_label": 0}, {"start_frame": 1, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 13, "reward_label": 0}, {"start_frame": 13, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 19, "reward_label": 0}, {"start_frame": 19, "end_frame": 20, "reward_label": 0}, {"start_frame": 20, "end_frame": 24, "reward_label": 1}, {"start_frame": 24, "end_frame": 25, "reward_label": -1}, {"start_frame": 25, "end_frame": 26, "reward_label": 1}, {"start_frame": 26, "end_frame": 28, "reward_label": 1}, {"start_frame": 28, "end_frame": 29, "reward_label": 0}, {"start_frame": 29, "end_frame": 30, "reward_label": 1}, {"start_frame": 30, "end_frame": 31, "reward_label": 1}, {"start_frame": 31, "end_frame": 32, "reward_label": 1}, {"start_frame": 32, "end_frame": 33, "reward_label": 0}, {"start_frame": 33, "end_frame": 34, "reward_label": 1}, {"start_frame": 34, "end_frame": 35, "reward_label": 1}, {"start_frame": 35, "end_frame": 37, "reward_label": 0}, {"start_frame": 37, "end_frame": 38, "reward_label": 1}, {"start_frame": 38, "end_frame": 39, "reward_label": 0}, {"start_frame": 39, "end_frame": 40, "reward_label": 1}, {"start_frame": 40, "end_frame": 41, "reward_label": 1}, {"start_frame": 41, "end_frame": 42, "reward_label": 0}, {"start_frame": 42, "end_frame": 43, "reward_label": 1}, {"start_frame": 43, "end_frame": 44, "reward_label": 1}, {"start_frame": 44, "end_frame": 46, "reward_label": 1}, {"start_frame": 46, "end_frame": 48, "reward_label": 0}, {"start_frame": 48, "end_frame": 49, "reward_label": 0}, {"start_frame": 49, "end_frame": 53, "reward_label": 0}, {"start_frame": 53, "end_frame": 54, "reward_label": 1}, {"start_frame": 54, "end_frame": 56, "reward_label": 0}, {"start_frame": 56, "end_frame": 57, "reward_label": 1}, {"start_frame": 57, "end_frame": 58, "reward_label": 1}, {"start_frame": 58, "end_frame": 59, "reward_label": 1}, {"start_frame": 59, "end_frame": 60, "reward_label": 1}, {"start_frame": 60, "end_frame": 61, "reward_label": 1}, {"start_frame": 61, "end_frame": 62, "reward_label": 1}, {"start_frame": 62, "end_frame": 63, "reward_label": 1}, {"start_frame": 63, "end_frame": 64, "reward_label": 1}, {"start_frame": 64, "end_frame": 65, "reward_label": 0}, {"start_frame": 65, "end_frame": 67, "reward_label": 1}, {"start_frame": 67, "end_frame": 68, "reward_label": 0}, {"start_frame": 68, "end_frame": 69, "reward_label": 0}, {"start_frame": 69, "end_frame": 70, "reward_label": 1}, {"start_frame": 70, "end_frame": 71, "reward_label": 0}, {"start_frame": 71, "end_frame": 72, "reward_label": 0}, {"start_frame": 72, "end_frame": 73, "reward_label": 0}, {"start_frame": 73, "end_frame": 74, "reward_label": 0}, {"start_frame": 74, "end_frame": 75, "reward_label": 0}, {"start_frame": 75, "end_frame": 76, "reward_label": 1}, {"start_frame": 76, "end_frame": 77, "reward_label": 1}, {"start_frame": 77, "end_frame": 78, "reward_label": 1}, {"start_frame": 78, "end_frame": 79, "reward_label": 0}, {"start_frame": 79, "end_frame": 80, "reward_label": -1}, {"start_frame": 80, "end_frame": 81, "reward_label": 0}, {"start_frame": 81, "end_frame": 82, "reward_label": -1}, {"start_frame": 82, "end_frame": 83, "reward_label": -1}, {"start_frame": 83, "end_frame": 84, "reward_label": 1}, {"start_frame": 84, "end_frame": 85, "reward_label": 1}, {"start_frame": 85, "end_frame": 86, "reward_label": 1}, {"start_frame": 86, "end_frame": 87, "reward_label": 1}, {"start_frame": 87, "end_frame": 88, "reward_label": 1}, {"start_frame": 88, "end_frame": 89, "reward_label": 1}, {"start_frame": 89, "end_frame": 90, "reward_label": 1}, {"start_frame": 90, "end_frame": 91, "reward_label": 1}, {"start_frame": 91, "end_frame": 92, "reward_label": 1}, {"start_frame": 92, "end_frame": 93, "reward_label": 1}, {"start_frame": 93, "end_frame": 94, "reward_label": 1}, {"start_frame": 94, "end_frame": 95, "reward_label": 1}, {"start_frame": 95, "end_frame": 96, "reward_label": -1}, {"start_frame": 96, "end_frame": 97, "reward_label": -1}, {"start_frame": 97, "end_frame": 98, "reward_label": 0}, {"start_frame": 98, "end_frame": 99, "reward_label": -1}, {"start_frame": 99, "end_frame": 100, "reward_label": -1}, {"start_frame": 100, "end_frame": 102, "reward_label": 0}], "task_instruction": "Pull out a tissue, wipe the stains on the table clean, and then discard the tissue into the trash bin."}
{"episode_id": 224, "image_dir": "images/ep224", "total_frames": 91, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 90, "reward_label": 0}], "task_instruction": "Pull out a tissue, wipe the stains on the table clean, and then discard the tissue into the trash bin."}
{"episode_id": 225, "image_dir": "images/ep225", "total_frames": 49, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 48, "reward_label": 1}], "task_instruction": "Place the red block, green block, and blue block in the order of red, green, and blue from left to right, placing in a row."}
{"episode_id": 226, "image_dir": "images/ep226", "total_frames": 46, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 45, "reward_label": 1}], "task_instruction": "Place the red block, green block, and blue block in the order of red, green, and blue from left to right, placing in a row."}
{"episode_id": 227, "image_dir": "images/ep227", "total_frames": 29, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 28, "reward_label": 1}], "task_instruction": "Use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad."}
{"episode_id": 228, "image_dir": "images/ep228", "total_frames": 29, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 28, "reward_label": 1}], "task_instruction": "Use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad."}
{"episode_id": 229, "image_dir": "images/ep229", "total_frames": 61, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 32, "reward_label": 0}, {"start_frame": 32, "end_frame": 44, "reward_label": 1}, {"start_frame": 44, "end_frame": 45, "reward_label": 1}, {"start_frame": 45, "end_frame": 60, "reward_label": 0}], "task_instruction": "Use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad."}
{"episode_id": 230, "image_dir": "images/ep230", "total_frames": 80, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 79, "reward_label": 0}], "task_instruction": "Use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad."}
{"episode_id": 231, "image_dir": "images/ep231", "total_frames": 60, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 59, "reward_label": 0}], "task_instruction": "Use one arm to grasp the microphone on the table and handover it to the other arm."}
{"episode_id": 232, "image_dir": "images/ep232", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 19, "reward_label": 0}], "task_instruction": "Use one arm to grasp the microphone on the table and handover it to the other arm."}
{"episode_id": 233, "image_dir": "images/ep233", "total_frames": 19, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}], "task_instruction": "Use one arm to grasp the microphone on the table and handover it to the other arm."}
{"episode_id": 234, "image_dir": "images/ep234", "total_frames": 60, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 23, "reward_label": -1}, {"start_frame": 23, "end_frame": 29, "reward_label": 0}, {"start_frame": 29, "end_frame": 31, "reward_label": -1}, {"start_frame": 31, "end_frame": 59, "reward_label": 0}], "task_instruction": "Use one arm to grasp the microphone on the table and handover it to the other arm."}
{"episode_id": 235, "image_dir": "images/ep235", "total_frames": 34, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 33, "reward_label": 1}], "task_instruction": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack."}
{"episode_id": 236, "image_dir": "images/ep236", "total_frames": 27, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 26, "reward_label": 1}], "task_instruction": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack."}
{"episode_id": 237, "image_dir": "images/ep237", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "If there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously grab up two breads and put them in the basket."}
{"episode_id": 238, "image_dir": "images/ep238", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "If there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously grab up two breads and put them in the basket."}
{"episode_id": 239, "image_dir": "images/ep239", "total_frames": 17, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}], "task_instruction": "If there is one bread on the table, use one arm to grab the bread and put it into the skillet."}
{"episode_id": 240, "image_dir": "images/ep240", "total_frames": 50, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 14, "reward_label": -1}, {"start_frame": 14, "end_frame": 20, "reward_label": 0}, {"start_frame": 20, "end_frame": 49, "reward_label": 0}], "task_instruction": "If there is one bread on the table, use one arm to grab the bread and put it into the skillet."}
{"episode_id": 241, "image_dir": "images/ep241", "total_frames": 50, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 20, "reward_label": -1}, {"start_frame": 20, "end_frame": 49, "reward_label": 0}], "task_instruction": "If there is one bread on the table, use one arm to grab the bread and put it into the skillet."}
{"episode_id": 242, "image_dir": "images/ep242", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "If there is one bread on the table, use one arm to grab the bread and put it into the skillet."}
{"episode_id": 243, "image_dir": "images/ep243", "total_frames": 70, "num_segments": 18, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 13, "reward_label": -1}, {"start_frame": 13, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 21, "reward_label": -1}, {"start_frame": 21, "end_frame": 24, "reward_label": 1}, {"start_frame": 24, "end_frame": 32, "reward_label": -1}, {"start_frame": 32, "end_frame": 35, "reward_label": 1}, {"start_frame": 35, "end_frame": 38, "reward_label": 1}, {"start_frame": 38, "end_frame": 40, "reward_label": -1}, {"start_frame": 40, "end_frame": 42, "reward_label": 1}, {"start_frame": 42, "end_frame": 49, "reward_label": -1}, {"start_frame": 49, "end_frame": 50, "reward_label": -1}, {"start_frame": 50, "end_frame": 53, "reward_label": 1}, {"start_frame": 53, "end_frame": 56, "reward_label": 1}, {"start_frame": 56, "end_frame": 58, "reward_label": -1}, {"start_frame": 58, "end_frame": 60, "reward_label": 1}, {"start_frame": 60, "end_frame": 69, "reward_label": -1}], "task_instruction": "Use one arm to pick up the can, put it into the basket, and use another arm to lift the basket"}
{"episode_id": 244, "image_dir": "images/ep244", "total_frames": 19, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}], "task_instruction": "Use one arm to pick up the can, put it into the basket, and use another arm to lift the basket"}
{"episode_id": 245, "image_dir": "images/ep245", "total_frames": 18, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}], "task_instruction": "Use one arm to pick up the can, put it into the basket, and use another arm to lift the basket"}
{"episode_id": 246, "image_dir": "images/ep246", "total_frames": 43, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 22, "reward_label": 1}, {"start_frame": 22, "end_frame": 42, "reward_label": 0}], "task_instruction": "Use one arm to pick up the can, put it into the basket, and use another arm to lift the basket"}
{"episode_id": 247, "image_dir": "images/ep247", "total_frames": 27, "num_segments": 10, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 7, "reward_label": 0}, {"start_frame": 7, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 12, "reward_label": -1}, {"start_frame": 12, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 21, "reward_label": 1}, {"start_frame": 21, "end_frame": 22, "reward_label": -1}, {"start_frame": 22, "end_frame": 25, "reward_label": -1}, {"start_frame": 25, "end_frame": 26, "reward_label": -1}], "task_instruction": "Grasp the single opened coke can."}
{"episode_id": 248, "image_dir": "images/ep248", "total_frames": 6, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}], "task_instruction": "Grasp the single opened coke can."}
{"episode_id": 249, "image_dir": "images/ep249", "total_frames": 17, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": -1}, {"start_frame": 8, "end_frame": 16, "reward_label": 1}], "task_instruction": "Grasp the single opened coke can."}
{"episode_id": 250, "image_dir": "images/ep250", "total_frames": 8, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}], "task_instruction": "Grasp the single opened coke can."}
{"episode_id": 251, "image_dir": "images/ep251", "total_frames": 7, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}], "task_instruction": "Move near the target object."}
{"episode_id": 252, "image_dir": "images/ep252", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Move near the target object."}
{"episode_id": 253, "image_dir": "images/ep253", "total_frames": 27, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 26, "reward_label": 0}], "task_instruction": "Move near the target object."}
{"episode_id": 254, "image_dir": "images/ep254", "total_frames": 32, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 29, "reward_label": 1}, {"start_frame": 29, "end_frame": 31, "reward_label": 1}], "task_instruction": "Open the bottom drawer."}
{"episode_id": 255, "image_dir": "images/ep255", "total_frames": 15, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}], "task_instruction": "Open the bottom drawer."}
{"episode_id": 256, "image_dir": "images/ep256", "total_frames": 30, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 8, "reward_label": -1}, {"start_frame": 8, "end_frame": 10, "reward_label": -1}, {"start_frame": 10, "end_frame": 29, "reward_label": 1}], "task_instruction": "Open the bottom drawer."}
{"episode_id": 257, "image_dir": "images/ep257", "total_frames": 17, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 9, "reward_label": -1}, {"start_frame": 9, "end_frame": 16, "reward_label": 1}], "task_instruction": "Open the middle drawer."}
{"episode_id": 258, "image_dir": "images/ep258", "total_frames": 30, "num_segments": 9, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 8, "reward_label": -1}, {"start_frame": 8, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 16, "reward_label": -1}, {"start_frame": 16, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 20, "reward_label": -1}, {"start_frame": 20, "end_frame": 25, "reward_label": 1}, {"start_frame": 25, "end_frame": 26, "reward_label": -1}, {"start_frame": 26, "end_frame": 29, "reward_label": 1}], "task_instruction": "Open the middle drawer."}
{"episode_id": 259, "image_dir": "images/ep259", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Close the bottom drawer."}
{"episode_id": 260, "image_dir": "images/ep260", "total_frames": 18, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 13, "reward_label": -1}, {"start_frame": 13, "end_frame": 17, "reward_label": 1}], "task_instruction": "Close the bottom drawer."}
{"episode_id": 261, "image_dir": "images/ep261", "total_frames": 38, "num_segments": 8, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 12, "reward_label": -1}, {"start_frame": 12, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 21, "reward_label": -1}, {"start_frame": 21, "end_frame": 29, "reward_label": 1}, {"start_frame": 29, "end_frame": 31, "reward_label": -1}, {"start_frame": 31, "end_frame": 36, "reward_label": 1}, {"start_frame": 36, "end_frame": 37, "reward_label": 0}], "task_instruction": "Close the bottom drawer."}
{"episode_id": 262, "image_dir": "images/ep262", "total_frames": 41, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 27, "reward_label": 0}, {"start_frame": 27, "end_frame": 28, "reward_label": -1}, {"start_frame": 28, "end_frame": 40, "reward_label": -1}], "task_instruction": "Put the spoon on the towel."}
{"episode_id": 263, "image_dir": "images/ep263", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 16, "reward_label": 0}], "task_instruction": "Put the spoon on the towel."}
{"episode_id": 264, "image_dir": "images/ep264", "total_frames": 41, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 11, "reward_label": -1}, {"start_frame": 11, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 36, "reward_label": 0}, {"start_frame": 36, "end_frame": 40, "reward_label": 1}], "task_instruction": "Put the carrot on the plate."}
{"episode_id": 265, "image_dir": "images/ep265", "total_frames": 41, "num_segments": 9, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 14, "reward_label": 0}, {"start_frame": 14, "end_frame": 16, "reward_label": -1}, {"start_frame": 16, "end_frame": 19, "reward_label": -1}, {"start_frame": 19, "end_frame": 27, "reward_label": 1}, {"start_frame": 27, "end_frame": 29, "reward_label": -1}, {"start_frame": 29, "end_frame": 34, "reward_label": 1}, {"start_frame": 34, "end_frame": 39, "reward_label": -1}, {"start_frame": 39, "end_frame": 40, "reward_label": -1}], "task_instruction": "Put the carrot on the plate."}
{"episode_id": 266, "image_dir": "images/ep266", "total_frames": 21, "num_segments": 6, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 11, "reward_label": -1}, {"start_frame": 11, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 16, "reward_label": -1}, {"start_frame": 16, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 20, "reward_label": 0}], "task_instruction": "Put the carrot on the plate."}
{"episode_id": 267, "image_dir": "images/ep267", "total_frames": 41, "num_segments": 17, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 10, "reward_label": -1}, {"start_frame": 10, "end_frame": 11, "reward_label": -1}, {"start_frame": 11, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 16, "reward_label": 0}, {"start_frame": 16, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 19, "reward_label": -1}, {"start_frame": 19, "end_frame": 21, "reward_label": 1}, {"start_frame": 21, "end_frame": 22, "reward_label": 0}, {"start_frame": 22, "end_frame": 23, "reward_label": -1}, {"start_frame": 23, "end_frame": 26, "reward_label": -1}, {"start_frame": 26, "end_frame": 27, "reward_label": -1}, {"start_frame": 27, "end_frame": 31, "reward_label": 1}, {"start_frame": 31, "end_frame": 32, "reward_label": 1}, {"start_frame": 32, "end_frame": 36, "reward_label": -1}, {"start_frame": 36, "end_frame": 37, "reward_label": -1}, {"start_frame": 37, "end_frame": 40, "reward_label": 1}], "task_instruction": "Stack the green cube on the yellow cube."}
{"episode_id": 268, "image_dir": "images/ep268", "total_frames": 41, "num_segments": 6, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 13, "reward_label": -1}, {"start_frame": 13, "end_frame": 14, "reward_label": -1}, {"start_frame": 14, "end_frame": 18, "reward_label": 0}, {"start_frame": 18, "end_frame": 26, "reward_label": 0}, {"start_frame": 26, "end_frame": 40, "reward_label": 0}], "task_instruction": "Stack the green cube on the yellow cube."}
{"episode_id": 269, "image_dir": "images/ep269", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 13, "reward_label": 0}], "task_instruction": "Stack the green cube on the yellow cube."}
{"episode_id": 270, "image_dir": "images/ep270", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 13, "reward_label": 0}], "task_instruction": "Put the eggplant in the basket."}
{"episode_id": 271, "image_dir": "images/ep271", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 9, "reward_label": -1}], "task_instruction": "Lift the cup on the table upright."}
{"episode_id": 272, "image_dir": "images/ep272", "total_frames": 11, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 9, "reward_label": 0}, {"start_frame": 9, "end_frame": 10, "reward_label": -1}], "task_instruction": "Lift the cup on the table upright."}
{"episode_id": 273, "image_dir": "images/ep273", "total_frames": 9, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 6, "reward_label": -1}, {"start_frame": 6, "end_frame": 8, "reward_label": 1}], "task_instruction": "Lift the cup on the table upright."}
{"episode_id": 274, "image_dir": "images/ep274", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 12, "reward_label": -1}], "task_instruction": "Lift the peg on the table upright."}
{"episode_id": 275, "image_dir": "images/ep275", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 9, "reward_label": -1}], "task_instruction": "Lift the peg on the table upright."}
{"episode_id": 276, "image_dir": "images/ep276", "total_frames": 60, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 18, "reward_label": -1}, {"start_frame": 18, "end_frame": 31, "reward_label": 1}, {"start_frame": 31, "end_frame": 59, "reward_label": -1}], "task_instruction": "Put the spoon in the mug and put them in the microwave"}
{"episode_id": 277, "image_dir": "images/ep277", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 15, "reward_label": -1}], "task_instruction": "Insert the peg into the hole in the box."}
{"episode_id": 278, "image_dir": "images/ep278", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 13, "reward_label": -1}], "task_instruction": "Insert the peg into the hole in the box."}
{"episode_id": 279, "image_dir": "images/ep279", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 13, "reward_label": -1}], "task_instruction": "Insert the peg into the hole in the box."}
{"episode_id": 280, "image_dir": "images/ep280", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pick up the apple to the target position."}
{"episode_id": 281, "image_dir": "images/ep281", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pick up the apple to the target position."}
{"episode_id": 282, "image_dir": "images/ep282", "total_frames": 5, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}], "task_instruction": "Pick up the strawberry to the target position."}
{"episode_id": 283, "image_dir": "images/ep283", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pick up the ball to the target position."}
{"episode_id": 284, "image_dir": "images/ep284", "total_frames": 6, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": -1}], "task_instruction": "Pick up the baseball to the target position."}
{"episode_id": 285, "image_dir": "images/ep285", "total_frames": 4, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}], "task_instruction": "Pick up the baseball to the target position."}
{"episode_id": 286, "image_dir": "images/ep286", "total_frames": 6, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 5, "reward_label": -1}], "task_instruction": "Pick up the can to the target position."}
{"episode_id": 287, "image_dir": "images/ep287", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pick up the can to the target position."}
{"episode_id": 288, "image_dir": "images/ep288", "total_frames": 6, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 5, "reward_label": -1}], "task_instruction": "Pick up the can to the target position."}
{"episode_id": 289, "image_dir": "images/ep289", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pick up the LEGO brick to the target position."}
{"episode_id": 290, "image_dir": "images/ep290", "total_frames": 6, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 5, "reward_label": -1}], "task_instruction": "Pick up the LEGO brick to the target position."}
{"episode_id": 291, "image_dir": "images/ep291", "total_frames": 5, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pick up the cup to the target position."}
{"episode_id": 292, "image_dir": "images/ep292", "total_frames": 5, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pick up the cup to the target position."}
{"episode_id": 293, "image_dir": "images/ep293", "total_frames": 4, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 3, "reward_label": -1}], "task_instruction": "Pick up the lock to the target position."}
{"episode_id": 294, "image_dir": "images/ep294", "total_frames": 6, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 5, "reward_label": -1}], "task_instruction": "Pick up the lock to the target position."}
{"episode_id": 295, "image_dir": "images/ep295", "total_frames": 4, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": -1}], "task_instruction": "Pick up the lock to the target position."}
{"episode_id": 296, "image_dir": "images/ep296", "total_frames": 7, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 6, "reward_label": -1}], "task_instruction": "Pick up the Rubik's cube to the target position."}
{"episode_id": 297, "image_dir": "images/ep297", "total_frames": 6, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 5, "reward_label": -1}], "task_instruction": "Pick up the Rubik's cube to the target position."}
{"episode_id": 298, "image_dir": "images/ep298", "total_frames": 7, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 6, "reward_label": -1}], "task_instruction": "Pick up the Rubik's cube to the target position."}
{"episode_id": 299, "image_dir": "images/ep299", "total_frames": 5, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}], "task_instruction": "Pick up the cube to the target position."}
{"episode_id": 300, "image_dir": "images/ep300", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pick up the cube to the target position."}
{"episode_id": 301, "image_dir": "images/ep301", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 1, "reward_label": 1}, {"start_frame": 1, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pick up the cube to the target position."}
{"episode_id": 302, "image_dir": "images/ep302", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 12, "reward_label": -1}], "task_instruction": "Insert the plug into the socket."}
{"episode_id": 303, "image_dir": "images/ep303", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 12, "reward_label": -1}], "task_instruction": "Insert the plug into the socket."}
{"episode_id": 304, "image_dir": "images/ep304", "total_frames": 6, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}], "task_instruction": "Pull the block to the target position."}
{"episode_id": 305, "image_dir": "images/ep305", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pull the LEGO brick to the target position."}
{"episode_id": 306, "image_dir": "images/ep306", "total_frames": 4, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 3, "reward_label": -1}], "task_instruction": "Pull the LEGO brick to the target position."}
{"episode_id": 307, "image_dir": "images/ep307", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pull the scissor to the target position."}
{"episode_id": 308, "image_dir": "images/ep308", "total_frames": 5, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 4, "reward_label": -1}], "task_instruction": "Pull the scissor to the target position."}
{"episode_id": 309, "image_dir": "images/ep309", "total_frames": 6, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 5, "reward_label": -1}], "task_instruction": "Pull the scissor to the target position."}
{"episode_id": 310, "image_dir": "images/ep310", "total_frames": 19, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 8, "reward_label": -1}, {"start_frame": 8, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the can back."}
{"episode_id": 311, "image_dir": "images/ep311", "total_frames": 17, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 11, "reward_label": 0}, {"start_frame": 11, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the can back."}
{"episode_id": 312, "image_dir": "images/ep312", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the apple back."}
{"episode_id": 313, "image_dir": "images/ep313", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the apple back."}
{"episode_id": 314, "image_dir": "images/ep314", "total_frames": 18, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 8, "reward_label": -1}, {"start_frame": 8, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the dice back."}
{"episode_id": 315, "image_dir": "images/ep315", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the strawberry back."}
{"episode_id": 316, "image_dir": "images/ep316", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the lego brick back."}
{"episode_id": 317, "image_dir": "images/ep317", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the marble back."}
{"episode_id": 318, "image_dir": "images/ep318", "total_frames": 16, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 7, "reward_label": -1}, {"start_frame": 7, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the peach back."}
{"episode_id": 319, "image_dir": "images/ep319", "total_frames": 4, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}], "task_instruction": "Push the box to the target position."}
{"episode_id": 320, "image_dir": "images/ep320", "total_frames": 39, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 18, "reward_label": -1}, {"start_frame": 18, "end_frame": 38, "reward_label": 1}], "task_instruction": "Put the screwdriver in the safe and close the door."}
{"episode_id": 321, "image_dir": "images/ep321", "total_frames": 7, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}], "task_instruction": "Put the apple on the plate."}
{"episode_id": 322, "image_dir": "images/ep322", "total_frames": 6, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": -1}], "task_instruction": "Put the peach on the plate."}
{"episode_id": 323, "image_dir": "images/ep323", "total_frames": 6, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": -1}], "task_instruction": "Put the peach on the plate."}
{"episode_id": 324, "image_dir": "images/ep324", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 7, "reward_label": -1}], "task_instruction": "Stack the red can on the blue can."}
{"episode_id": 325, "image_dir": "images/ep325", "total_frames": 7, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 6, "reward_label": -1}], "task_instruction": "Stack the red can on the blue can."}
{"episode_id": 326, "image_dir": "images/ep326", "total_frames": 6, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 5, "reward_label": -1}], "task_instruction": "Stack the dice on the brick."}
{"episode_id": 327, "image_dir": "images/ep327", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 7, "reward_label": -1}], "task_instruction": "Stack the dice on the brick."}
{"episode_id": 328, "image_dir": "images/ep328", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 7, "reward_label": -1}], "task_instruction": "Stack the dice on the brick."}
{"episode_id": 329, "image_dir": "images/ep329", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 7, "reward_label": -1}], "task_instruction": "Put the orange on the bowl."}
{"episode_id": 330, "image_dir": "images/ep330", "total_frames": 8, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}], "task_instruction": "Put the orange on the bowl."}
{"episode_id": 331, "image_dir": "images/ep331", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 9, "reward_label": -1}], "task_instruction": "Put the orange on the bowl."}
{"episode_id": 332, "image_dir": "images/ep332", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 8, "reward_label": -1}], "task_instruction": "Put the apple on the bowl."}
{"episode_id": 333, "image_dir": "images/ep333", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Lift the long block upright and stack it on the red bowl"}
{"episode_id": 334, "image_dir": "images/ep334", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Lift the long block upright and stack it on the red bowl"}
{"episode_id": 335, "image_dir": "images/ep335", "total_frames": 15, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}], "task_instruction": "Lift the long block upright and stack it on the red bowl"}
{"episode_id": 336, "image_dir": "images/ep336", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Lift the long block upright and stack it on the rubik's cube"}
{"episode_id": 337, "image_dir": "images/ep337", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 15, "reward_label": -1}], "task_instruction": "Lift the long block upright and stack it on the rubik's cube"}
{"episode_id": 338, "image_dir": "images/ep338", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 12, "reward_label": -1}], "task_instruction": "Lift the long block upright and stack it on the red cube"}
{"episode_id": 339, "image_dir": "images/ep339", "total_frames": 17, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 14, "reward_label": 0}, {"start_frame": 14, "end_frame": 16, "reward_label": -1}], "task_instruction": "Lift the long block upright and stack it on the red cube"}
{"episode_id": 340, "image_dir": "images/ep340", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "Lift the long block upright and stack it on the red cube"}
{"episode_id": 341, "image_dir": "images/ep341", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 14, "reward_label": -1}], "task_instruction": "Insert the cylinder into the middle hole of the shelf."}
{"episode_id": 342, "image_dir": "images/ep342", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 15, "reward_label": -1}], "task_instruction": "Insert the cylinder into the middle hole of the shelf."}
{"episode_id": 343, "image_dir": "images/ep343", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 17, "reward_label": -1}], "task_instruction": "Put the red cube in the box."}
{"episode_id": 344, "image_dir": "images/ep344", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 17, "reward_label": -1}], "task_instruction": "Put the red cube in the box."}
{"episode_id": 345, "image_dir": "images/ep345", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 16, "reward_label": -1}], "task_instruction": "Put the red cube in the box."}
{"episode_id": 346, "image_dir": "images/ep346", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the cube back."}
{"episode_id": 347, "image_dir": "images/ep347", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the cube back."}
{"episode_id": 348, "image_dir": "images/ep348", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the L-shaped tool to pull the cube back."}
{"episode_id": 349, "image_dir": "images/ep349", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 12, "reward_label": -1}], "task_instruction": "Pull the cube to the target position."}
{"episode_id": 350, "image_dir": "images/ep350", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 11, "reward_label": -1}], "task_instruction": "Pull the cube to the target position."}
{"episode_id": 351, "image_dir": "images/ep351", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 14, "reward_label": -1}], "task_instruction": "Pull the cube to the target position."}
{"episode_id": 352, "image_dir": "images/ep352", "total_frames": 16, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 0}, {"start_frame": 4, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 15, "reward_label": -1}], "task_instruction": "Push the cube to the target position."}
{"episode_id": 353, "image_dir": "images/ep353", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 14, "reward_label": -1}], "task_instruction": "Push the cube to the target position."}
{"episode_id": 354, "image_dir": "images/ep354", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 19, "reward_label": -1}], "task_instruction": "Stack the red cube on the green cube."}
{"episode_id": 355, "image_dir": "images/ep355", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 21, "reward_label": -1}], "task_instruction": "Stack the red cube on the green cube."}
{"episode_id": 356, "image_dir": "images/ep356", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 18, "reward_label": -1}], "task_instruction": "Stack the red cube on the green cube."}
{"episode_id": 357, "image_dir": "images/ep357", "total_frames": 28, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 27, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder."}
{"episode_id": 358, "image_dir": "images/ep358", "total_frames": 30, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 19, "reward_label": 0}, {"start_frame": 19, "end_frame": 29, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder."}
{"episode_id": 359, "image_dir": "images/ep359", "total_frames": 26, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 25, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder."}
{"episode_id": 360, "image_dir": "images/ep360", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the right gripper to drag the basket to the center of the table, then use the left gripper to grasp and place the blue cube into the basket."}
{"episode_id": 361, "image_dir": "images/ep361", "total_frames": 16, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}], "task_instruction": "Grab the socket with the right arm and unplug the charger with the left arm."}
{"episode_id": 362, "image_dir": "images/ep362", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 21, "reward_label": -1}], "task_instruction": "Grab the socket with the right arm and unplug the charger with the left arm."}
{"episode_id": 363, "image_dir": "images/ep363", "total_frames": 25, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 24, "reward_label": -1}], "task_instruction": "Grab the socket with the right arm and unplug the charger with the left arm."}
{"episode_id": 364, "image_dir": "images/ep364", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the bottle and place it into the pink bowl."}
{"episode_id": 365, "image_dir": "images/ep365", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 12, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the bottle and place it into the pink bowl."}
{"episode_id": 366, "image_dir": "images/ep366", "total_frames": 24, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 23, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the Coke can and place it on the green tray."}
{"episode_id": 367, "image_dir": "images/ep367", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the Coke can and place it on the green tray."}
{"episode_id": 368, "image_dir": "images/ep368", "total_frames": 11, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 7, "reward_label": 0}, {"start_frame": 7, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the test tube and place it upright on the shelf."}
{"episode_id": 369, "image_dir": "images/ep369", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 7, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the test tube and place it upright on the shelf."}
{"episode_id": 370, "image_dir": "images/ep370", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 7, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the test tube and place it upright on the shelf."}
{"episode_id": 371, "image_dir": "images/ep371", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the yellow duck and place it on the cup."}
{"episode_id": 372, "image_dir": "images/ep372", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the yellow duck and place it on the cup."}
{"episode_id": 373, "image_dir": "images/ep373", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the yellow duck and place it on the cup."}
{"episode_id": 374, "image_dir": "images/ep374", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the filter and place it into the juicer."}
{"episode_id": 375, "image_dir": "images/ep375", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the filter and place it into the juicer."}
{"episode_id": 376, "image_dir": "images/ep376", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the filter and place it into the juicer."}
{"episode_id": 377, "image_dir": "images/ep377", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the knife from the holder and place it in the drawer."}
{"episode_id": 378, "image_dir": "images/ep378", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the knife from the holder and place it in the drawer."}
{"episode_id": 379, "image_dir": "images/ep379", "total_frames": 11, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 8, "reward_label": -1}, {"start_frame": 8, "end_frame": 10, "reward_label": 1}], "task_instruction": "Use the right arm to grasp the knife from the holder and place it in the drawer."}
{"episode_id": 380, "image_dir": "images/ep380", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the knife from the holder and place it on the plate."}
{"episode_id": 381, "image_dir": "images/ep381", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the knife from the holder and place it on the plate."}
{"episode_id": 382, "image_dir": "images/ep382", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Use the left arm to grasp the knife from the holder and place it on the plate."}
{"episode_id": 383, "image_dir": "images/ep383", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the marker and place it in the purple cup."}
{"episode_id": 384, "image_dir": "images/ep384", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 7, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the marker and place it in the purple cup."}
{"episode_id": 385, "image_dir": "images/ep385", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 7, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the marker and place it in the purple cup."}
{"episode_id": 386, "image_dir": "images/ep386", "total_frames": 13, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 8, "reward_label": 0}, {"start_frame": 8, "end_frame": 12, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the wooden spatula and place it in the blue basket."}
{"episode_id": 387, "image_dir": "images/ep387", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 7, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the wooden spatula and place it in the blue basket."}
{"episode_id": 388, "image_dir": "images/ep388", "total_frames": 15, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 12, "reward_label": -1}, {"start_frame": 12, "end_frame": 14, "reward_label": 0}], "task_instruction": "Use the left arm to grasp the wooden spatula and place it in the blue basket."}
{"episode_id": 389, "image_dir": "images/ep389", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the test tube and place it in the blue bowl."}
{"episode_id": 390, "image_dir": "images/ep390", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the test tube and place it in the blue bowl."}
{"episode_id": 391, "image_dir": "images/ep391", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 16, "reward_label": 0}], "task_instruction": "Use the right arm to grasp the test tube and place it in the blue bowl."}
{"episode_id": 392, "image_dir": "images/ep392", "total_frames": 19, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 18, "reward_label": 0}], "task_instruction": "Use the right arm to hold the socket, left arm to insert the plug into it."}
{"episode_id": 393, "image_dir": "images/ep393", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the right arm to hold the socket, left arm to insert the plug into it."}
{"episode_id": 394, "image_dir": "images/ep394", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the left arm to lift the lid off the pot. Then use the right arm to grasp and place the red cube into the pot and the left arm put the lid back on the pot."}
{"episode_id": 395, "image_dir": "images/ep395", "total_frames": 31, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 24, "reward_label": 1}, {"start_frame": 24, "end_frame": 30, "reward_label": -1}], "task_instruction": "Use the left arm to lift the lid off the pot. Then use the right arm to grasp and place the red cube into the pot and the left arm put the lid back on the pot."}
{"episode_id": 396, "image_dir": "images/ep396", "total_frames": 36, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 28, "reward_label": 1}, {"start_frame": 28, "end_frame": 35, "reward_label": -1}], "task_instruction": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck into the pot."}
{"episode_id": 397, "image_dir": "images/ep397", "total_frames": 25, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 24, "reward_label": -1}], "task_instruction": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck into the pot."}
{"episode_id": 398, "image_dir": "images/ep398", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside."}
{"episode_id": 399, "image_dir": "images/ep399", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside."}
{"episode_id": 400, "image_dir": "images/ep400", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside."}
{"episode_id": 401, "image_dir": "images/ep401", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to lift the lid of the pot and place it over the pot."}
{"episode_id": 402, "image_dir": "images/ep402", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": -1}], "task_instruction": "Use the left arm to lift the lid of the pot and place it over the pot."}
{"episode_id": 403, "image_dir": "images/ep403", "total_frames": 23, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 20, "reward_label": 1}, {"start_frame": 20, "end_frame": 22, "reward_label": -1}], "task_instruction": "Use the right arm to open the paper box. Then use the left arm to grasp and put the data cable into the paper box."}
{"episode_id": 404, "image_dir": "images/ep404", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the right arm to open the paper box. Then use the left arm to grasp and put the data cable into the paper box."}
{"episode_id": 405, "image_dir": "images/ep405", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the right arm to open the paper box. Then use the left arm to grasp and put the data cable into the paper box."}
{"episode_id": 406, "image_dir": "images/ep406", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the left arm to open the paper box, then use the right arm to place the marker inside."}
{"episode_id": 407, "image_dir": "images/ep407", "total_frames": 25, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 24, "reward_label": 1}], "task_instruction": "Use the left arm to open the paper box, then use the right arm to place the marker inside."}
{"episode_id": 408, "image_dir": "images/ep408", "total_frames": 21, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 20, "reward_label": -1}], "task_instruction": "Use the left arm to open the paper box, then use the right arm to place the marker inside."}
{"episode_id": 409, "image_dir": "images/ep409", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the left arm to open the drawer, then use the right arm to put the marker inside."}
{"episode_id": 410, "image_dir": "images/ep410", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 21, "reward_label": -1}], "task_instruction": "Use the left arm to open the drawer, then use the right arm to put the marker inside."}
{"episode_id": 411, "image_dir": "images/ep411", "total_frames": 39, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 31, "reward_label": 1}, {"start_frame": 31, "end_frame": 38, "reward_label": -1}], "task_instruction": "Use the left arm to open the drawer, then use the right arm to put the marker inside."}
{"episode_id": 412, "image_dir": "images/ep412", "total_frames": 25, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 20, "reward_label": 1}, {"start_frame": 20, "end_frame": 24, "reward_label": -1}], "task_instruction": "Use the right arm to open the drawer, then use the left arm to put the stapler inside."}
{"episode_id": 413, "image_dir": "images/ep413", "total_frames": 31, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 30, "reward_label": 1}], "task_instruction": "Use the right arm to open the drawer, then use the left arm to put the stapler inside."}
{"episode_id": 414, "image_dir": "images/ep414", "total_frames": 21, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 20, "reward_label": -1}], "task_instruction": "Use the right arm to open the drawer, then use the left arm to put the stapler inside."}
{"episode_id": 415, "image_dir": "images/ep415", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the left door handle and open the left door. Then use the right arm to grasp the right door handle and open the right door."}
{"episode_id": 416, "image_dir": "images/ep416", "total_frames": 21, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 20, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the left door handle and open the left door. Then use the right arm to grasp the right door handle and open the right door."}
{"episode_id": 417, "image_dir": "images/ep417", "total_frames": 24, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 23, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the left door handle and open the left door. Then use the right arm to grasp the right door handle and open the right door."}
{"episode_id": 418, "image_dir": "images/ep418", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside."}
{"episode_id": 419, "image_dir": "images/ep419", "total_frames": 19, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 18, "reward_label": 0}], "task_instruction": "Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside."}
{"episode_id": 420, "image_dir": "images/ep420", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the right arm to open rice cooker lid. Then use the left arm to pick up the white spoon and put it into the rice cooker."}
{"episode_id": 421, "image_dir": "images/ep421", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the right arm to open rice cooker lid. Then use the left arm to pick up the white spoon and put it into the rice cooker."}
{"episode_id": 422, "image_dir": "images/ep422", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the right arm to open rice cooker lid. Then use the left arm to pick up the white spoon and put it into the rice cooker."}
{"episode_id": 423, "image_dir": "images/ep423", "total_frames": 18, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 16, "reward_label": -1}, {"start_frame": 16, "end_frame": 17, "reward_label": 0}], "task_instruction": "Use the right arm to open rice cooker lid. Then use the left arm to pick up the white spoon and put it into the rice cooker."}
{"episode_id": 424, "image_dir": "images/ep424", "total_frames": 18, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 13, "reward_label": -1}, {"start_frame": 13, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 17, "reward_label": 0}], "task_instruction": "Use the right arm to open rice cooker lid. Then use the left arm to pick up the white spoon and put it into the rice cooker."}
{"episode_id": 425, "image_dir": "images/ep425", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to open the microwave oven door. Then use the right arm to put the blue bowl inside the microwave oven."}
{"episode_id": 426, "image_dir": "images/ep426", "total_frames": 22, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 18, "reward_label": -1}, {"start_frame": 18, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 21, "reward_label": -1}], "task_instruction": "Use the left arm to open the microwave oven door. Then use the right arm to put the blue bowl inside the microwave oven."}
{"episode_id": 427, "image_dir": "images/ep427", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the left arm to open the microwave oven door. Then use the right arm to put the green duck inside the microwave oven."}
{"episode_id": 428, "image_dir": "images/ep428", "total_frames": 24, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 23, "reward_label": -1}], "task_instruction": "Use the left arm to open the microwave oven door. Then use the right arm to put the green duck inside the microwave oven."}
{"episode_id": 429, "image_dir": "images/ep429", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the table tennis ball and place it in the open drawer."}
{"episode_id": 430, "image_dir": "images/ep430", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the table tennis ball and place it in the open drawer."}
{"episode_id": 431, "image_dir": "images/ep431", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the table tennis ball and place it in the open drawer."}
{"episode_id": 432, "image_dir": "images/ep432", "total_frames": 23, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 22, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the purple block from inside the drawer and place it on the plate. Then, use the left arm to push the drawer closed."}
{"episode_id": 433, "image_dir": "images/ep433", "total_frames": 27, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 26, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the purple block from inside the drawer and place it on the plate. Then, use the left arm to push the drawer closed."}
{"episode_id": 434, "image_dir": "images/ep434", "total_frames": 36, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 35, "reward_label": 0}], "task_instruction": "Use the right arm to pick up the purple block from inside the drawer and place it on the plate. Then, use the left arm to push the drawer closed."}
{"episode_id": 435, "image_dir": "images/ep435", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the pink bowl and place it in the middle of the table. Then use the right arm to pick up the yellow cube and place it into the pink bowl."}
{"episode_id": 436, "image_dir": "images/ep436", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the pink bowl and place it in the middle of the table. Then use the right arm to pick up the yellow cube and place it into the pink bowl."}
{"episode_id": 437, "image_dir": "images/ep437", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the pink bowl and place it in the middle of the table. Then use the right arm to pick up the yellow cube and place it into the pink bowl."}
{"episode_id": 438, "image_dir": "images/ep438", "total_frames": 25, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 24, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the pink bowl and place it in the middle of the table. Then use the right arm to pick up the yellow cube and place it into the pink bowl."}
{"episode_id": 439, "image_dir": "images/ep439", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the pink bowl and place it in the middle of the table. Then use the right arm to pick up the yellow cube and place it into the pink bowl."}
{"episode_id": 440, "image_dir": "images/ep440", "total_frames": 25, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 24, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the pink bowl and place it in the middle of the table. Then use the right arm to pick up the yellow cube and place it into the pink bowl."}
{"episode_id": 441, "image_dir": "images/ep441", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 21, "reward_label": 0}], "task_instruction": "Use the left arm to pick up the pink bowl and place it on the top shelf."}
{"episode_id": 442, "image_dir": "images/ep442", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the pink bowl and place it on the top shelf."}
{"episode_id": 443, "image_dir": "images/ep443", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the pink bowl and place it on the top shelf."}
{"episode_id": 444, "image_dir": "images/ep444", "total_frames": 15, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 12, "reward_label": -1}, {"start_frame": 12, "end_frame": 14, "reward_label": 0}], "task_instruction": "Use the left arm to grasp the coke bottle and place it upright on the blue plate."}
{"episode_id": 445, "image_dir": "images/ep445", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the coke bottle and place it upright on the blue plate."}
{"episode_id": 446, "image_dir": "images/ep446", "total_frames": 20, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 11, "reward_label": -1}, {"start_frame": 11, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the coke bottle and place it upright on the blue plate."}
{"episode_id": 447, "image_dir": "images/ep447", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the pink cube from the drawer and place it on the plate."}
{"episode_id": 448, "image_dir": "images/ep448", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 12, "reward_label": 0}], "task_instruction": "Use the left arm to pick up the pink cube from the drawer and place it on the plate."}
{"episode_id": 449, "image_dir": "images/ep449", "total_frames": 12, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 10, "reward_label": -1}, {"start_frame": 10, "end_frame": 11, "reward_label": 0}], "task_instruction": "Use the left arm to pick up the pink cube from the drawer and place it on the plate."}
{"episode_id": 450, "image_dir": "images/ep450", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the blue cube and place it on the green plate."}
{"episode_id": 451, "image_dir": "images/ep451", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the blue cube and place it on the green plate."}
{"episode_id": 452, "image_dir": "images/ep452", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the blue cube and place it on the green plate."}
{"episode_id": 453, "image_dir": "images/ep453", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the red cube and place it into the red pot."}
{"episode_id": 454, "image_dir": "images/ep454", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the red cube and place it into the red pot."}
{"episode_id": 455, "image_dir": "images/ep455", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the red cube and place it into the red pot."}
{"episode_id": 456, "image_dir": "images/ep456", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 21, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the blue cube, transfer it to the left arm and then use the left arm to put it in the basket."}
{"episode_id": 457, "image_dir": "images/ep457", "total_frames": 21, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 20, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the blue cube, transfer it to the left arm and then use the left arm to put it in the basket."}
{"episode_id": 458, "image_dir": "images/ep458", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the blue cup and place it on the left table."}
{"episode_id": 459, "image_dir": "images/ep459", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the blue cup and place it on the left table."}
{"episode_id": 460, "image_dir": "images/ep460", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the blue cup and place it on the left table."}
{"episode_id": 461, "image_dir": "images/ep461", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the green cylinder from the plate and place it in the drawer."}
{"episode_id": 462, "image_dir": "images/ep462", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the green cylinder from the plate and place it in the drawer."}
{"episode_id": 463, "image_dir": "images/ep463", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the green cylinder from the plate and place it in the drawer."}
{"episode_id": 464, "image_dir": "images/ep464", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the eraser from the table and place it in the black box on the right."}
{"episode_id": 465, "image_dir": "images/ep465", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the eraser from the table and place it in the black box on the right."}
{"episode_id": 466, "image_dir": "images/ep466", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the eraser from the table and place it in the black box on the right."}
{"episode_id": 467, "image_dir": "images/ep467", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the green cube and place it into the woven basket."}
{"episode_id": 468, "image_dir": "images/ep468", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the green cube and place it into the woven basket."}
{"episode_id": 469, "image_dir": "images/ep469", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the green cube and place it into the woven basket."}
{"episode_id": 470, "image_dir": "images/ep470", "total_frames": 24, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 23, "reward_label": 0}], "task_instruction": "Use the right arm to grasp the marker in the green cup and draw a black cross mark on the table and then put it into the green cup."}
{"episode_id": 471, "image_dir": "images/ep471", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 21, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the marker in the green cup and draw a black cross mark on the table and then put it into the green cup."}
{"episode_id": 472, "image_dir": "images/ep472", "total_frames": 39, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 21, "reward_label": 1}, {"start_frame": 21, "end_frame": 38, "reward_label": 0}], "task_instruction": "Use the right arm to grasp the marker in the green cup and draw a black cross mark on the table and then put it into the green cup."}
{"episode_id": 473, "image_dir": "images/ep473", "total_frames": 12, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": 0}, {"start_frame": 8, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the marker from the cup, draw a line on the table and put it back into the cup."}
{"episode_id": 474, "image_dir": "images/ep474", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the marker from the cup, draw a line on the table and put it back into the cup."}
{"episode_id": 475, "image_dir": "images/ep475", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the marker from the cup, draw a line on the table and put it back into the cup."}
{"episode_id": 476, "image_dir": "images/ep476", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the marker and place it into the white bowl."}
{"episode_id": 477, "image_dir": "images/ep477", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the marker and place it into the white bowl."}
{"episode_id": 478, "image_dir": "images/ep478", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the marker and place it into the white bowl."}
{"episode_id": 479, "image_dir": "images/ep479", "total_frames": 18, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 14, "reward_label": 0}, {"start_frame": 14, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the marker and place it in the purple cup."}
{"episode_id": 480, "image_dir": "images/ep480", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the marker and place it in the purple cup."}
{"episode_id": 481, "image_dir": "images/ep481", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the marker and place it in the purple cup."}
{"episode_id": 482, "image_dir": "images/ep482", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the marker, transfer it to the left arm and then place it in the cup."}
{"episode_id": 483, "image_dir": "images/ep483", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 15, "reward_label": 0}], "task_instruction": "Use the right arm to grasp the marker, transfer it to the left arm and then place it in the cup."}
{"episode_id": 484, "image_dir": "images/ep484", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the marker, transfer it to the right arm and then use the right arm to put it in the green plate."}
{"episode_id": 485, "image_dir": "images/ep485", "total_frames": 34, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 26, "reward_label": 1}, {"start_frame": 26, "end_frame": 33, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the marker, transfer it to the right arm and then use the right arm to put it in the green plate."}
{"episode_id": 486, "image_dir": "images/ep486", "total_frames": 24, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 21, "reward_label": 1}, {"start_frame": 21, "end_frame": 23, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the marker, transfer it to the right arm and then use the right arm to put it in the green plate."}
{"episode_id": 487, "image_dir": "images/ep487", "total_frames": 26, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 23, "reward_label": 1}, {"start_frame": 23, "end_frame": 25, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the marker, transfer it to the right arm and then use the right arm to put it in the green plate."}
{"episode_id": 488, "image_dir": "images/ep488", "total_frames": 28, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 24, "reward_label": 1}, {"start_frame": 24, "end_frame": 27, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the marker, transfer it to the right arm and then use the right arm to put it in the green plate."}
{"episode_id": 489, "image_dir": "images/ep489", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the mouse from the tray and place it in the basket."}
{"episode_id": 490, "image_dir": "images/ep490", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 7, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the mouse from the tray and place it in the basket."}
{"episode_id": 491, "image_dir": "images/ep491", "total_frames": 10, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 8, "reward_label": 0}, {"start_frame": 8, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the mouse from the tray and place it in the basket."}
{"episode_id": 492, "image_dir": "images/ep492", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the mouse and then place it on the middle of the laptop"}
{"episode_id": 493, "image_dir": "images/ep493", "total_frames": 21, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 20, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the object from the table and place it in the black box on the left."}
{"episode_id": 494, "image_dir": "images/ep494", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the object from the table and place it in the black box on the left."}
{"episode_id": 495, "image_dir": "images/ep495", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 12, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the object from the table and place it in the black box on the left."}
{"episode_id": 496, "image_dir": "images/ep496", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 21, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the object from the table and place it in the black box on the left."}
{"episode_id": 497, "image_dir": "images/ep497", "total_frames": 12, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 7, "reward_label": 0}, {"start_frame": 7, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the object from the table and place it in the black box on the left."}
{"episode_id": 498, "image_dir": "images/ep498", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the object from the table and place it in the black box on the left."}
{"episode_id": 499, "image_dir": "images/ep499", "total_frames": 34, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 27, "reward_label": 1}, {"start_frame": 27, "end_frame": 33, "reward_label": -1}], "task_instruction": "Use the right arm to place the orange block into the bowl. Then, use the left arm to open the microwave door, use the right arm to put the bowl into the microwave, and finally, close the microwave door."}
{"episode_id": 500, "image_dir": "images/ep500", "total_frames": 37, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 26, "reward_label": 1}, {"start_frame": 26, "end_frame": 36, "reward_label": -1}], "task_instruction": "Use the right arm to place the orange block into the bowl. Then, use the left arm to open the microwave door, use the right arm to put the bowl into the microwave, and finally, close the microwave door."}
{"episode_id": 501, "image_dir": "images/ep501", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 12, "reward_label": -1}], "task_instruction": "Use the left arm to place the orange block into the pot."}
{"episode_id": 502, "image_dir": "images/ep502", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 15, "reward_label": 0}], "task_instruction": "Use the left arm to place the orange block into the pot."}
{"episode_id": 503, "image_dir": "images/ep503", "total_frames": 19, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 12, "reward_label": 0}, {"start_frame": 12, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to place the orange block into the pot."}
{"episode_id": 504, "image_dir": "images/ep504", "total_frames": 25, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 20, "reward_label": 0}, {"start_frame": 20, "end_frame": 24, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the pen, transfer it to the right arm and then place it in the blue plate."}
{"episode_id": 505, "image_dir": "images/ep505", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 16, "reward_label": 0}], "task_instruction": "Use the left arm to grasp the pen, transfer it to the right arm and then place it in the blue plate."}
{"episode_id": 506, "image_dir": "images/ep506", "total_frames": 30, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 24, "reward_label": 0}, {"start_frame": 24, "end_frame": 29, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the pen, transfer it to the right arm and then place it in the blue plate."}
{"episode_id": 507, "image_dir": "images/ep507", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 12, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the pepsi bottle and place it upright in the blue bowl."}
{"episode_id": 508, "image_dir": "images/ep508", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the pepsi bottle and place it upright in the blue bowl."}
{"episode_id": 509, "image_dir": "images/ep509", "total_frames": 17, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 10, "reward_label": -1}, {"start_frame": 10, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the pepsi bottle and place it upright in the blue bowl."}
{"episode_id": 510, "image_dir": "images/ep510", "total_frames": 17, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}], "task_instruction": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. Then use the right arm to grasp the test tube and place it in the right empty slot on the rack."}
{"episode_id": 511, "image_dir": "images/ep511", "total_frames": 44, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 32, "reward_label": 1}, {"start_frame": 32, "end_frame": 40, "reward_label": -1}, {"start_frame": 40, "end_frame": 43, "reward_label": 1}], "task_instruction": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. Then use the right arm to grasp the test tube and place it in the right empty slot on the rack."}
{"episode_id": 512, "image_dir": "images/ep512", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. Then use the right arm to grasp the test tube and place it in the right empty slot on the rack."}
{"episode_id": 513, "image_dir": "images/ep513", "total_frames": 19, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. Then use the right arm to grasp the test tube and place it in the right empty slot on the rack."}
{"episode_id": 514, "image_dir": "images/ep514", "total_frames": 20, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}], "task_instruction": "Use the left arm to pick up the vial and place it in the left empty slot on the rack. Then use the right arm to grasp the test tube and place it in the right empty slot on the rack."}
{"episode_id": 515, "image_dir": "images/ep515", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the right arm to place the pink block on the drawer onto the table, and use the left arm to place the blue block onto the pink block."}
{"episode_id": 516, "image_dir": "images/ep516", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": -1}], "task_instruction": "Use the right arm to place the pink block on the drawer onto the table, and use the left arm to place the blue block onto the pink block."}
{"episode_id": 517, "image_dir": "images/ep517", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the right arm to place the pink block on the drawer onto the table, and use the left arm to place the blue block onto the pink block."}
{"episode_id": 518, "image_dir": "images/ep518", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the red marker and place it on the white tray."}
{"episode_id": 519, "image_dir": "images/ep519", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the red marker and place it on the white tray."}
{"episode_id": 520, "image_dir": "images/ep520", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the red marker and place it on the white tray."}
{"episode_id": 521, "image_dir": "images/ep521", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Use the right arm to grasp the remote controller, transfer it to the left arm, and then place it on the chopping board."}
{"episode_id": 522, "image_dir": "images/ep522", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "Use the right arm to grasp the remote controller, transfer it to the left arm, and then place it on the chopping board."}
{"episode_id": 523, "image_dir": "images/ep523", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the spoon and place it into the rice cooker."}
{"episode_id": 524, "image_dir": "images/ep524", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the spoon and place it into the rice cooker."}
{"episode_id": 525, "image_dir": "images/ep525", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the spoon and place it into the rice cooker."}
{"episode_id": 526, "image_dir": "images/ep526", "total_frames": 20, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 18, "reward_label": -1}, {"start_frame": 18, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the tape and thread the tape's central hole through the upright marker on the table."}
{"episode_id": 527, "image_dir": "images/ep527", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the right arm to grasp the tape and thread the tape's central hole through the upright marker on the table."}
{"episode_id": 528, "image_dir": "images/ep528", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the test tube and place it in the left empty slot on the rack."}
{"episode_id": 529, "image_dir": "images/ep529", "total_frames": 17, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}], "task_instruction": "Use the left arm to grasp the test tube and place it in the left empty slot on the rack."}
{"episode_id": 530, "image_dir": "images/ep530", "total_frames": 25, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 15, "reward_label": -1}, {"start_frame": 15, "end_frame": 24, "reward_label": -1}], "task_instruction": "Use the left arm to grasp the test tube and place it in the left empty slot on the rack."}
{"episode_id": 531, "image_dir": "images/ep531", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the vial and place it in the middle empty slot on the rack."}
{"episode_id": 532, "image_dir": "images/ep532", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the vial and place it in the middle empty slot on the rack."}
{"episode_id": 533, "image_dir": "images/ep533", "total_frames": 20, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 11, "reward_label": 0}, {"start_frame": 11, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the vial and place it in the middle empty slot on the rack."}
{"episode_id": 534, "image_dir": "images/ep534", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the vial and place it in the right empty slot on the rack."}
{"episode_id": 535, "image_dir": "images/ep535", "total_frames": 14, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}], "task_instruction": "Use the right arm to pick up the vial and place it in the right empty slot on the rack."}
{"episode_id": 536, "image_dir": "images/ep536", "total_frames": 17, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 10, "reward_label": 0}, {"start_frame": 10, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the vial and place it in the right empty slot on the rack."}
{"episode_id": 537, "image_dir": "images/ep537", "total_frames": 23, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 22, "reward_label": -1}], "task_instruction": "Use the right arm to place the yellow block inside the drawer, and then push the drawer closed."}
{"episode_id": 538, "image_dir": "images/ep538", "total_frames": 24, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 23, "reward_label": -1}], "task_instruction": "Use the right arm to place the yellow block inside the drawer, and then push the drawer closed."}
{"episode_id": 539, "image_dir": "images/ep539", "total_frames": 20, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}], "task_instruction": "Use the right arm to place the blue cube into the pot and then place the lid on top."}
{"episode_id": 540, "image_dir": "images/ep540", "total_frames": 29, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 28, "reward_label": 1}], "task_instruction": "Use the right arm to place the blue cube into the pot and then place the lid on top."}
{"episode_id": 541, "image_dir": "images/ep541", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the left arm to put the white and blue doll into the green plate, and use the right arm to put the stapler into the blue plate."}
{"episode_id": 542, "image_dir": "images/ep542", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the left arm to put the white and blue doll into the green plate, and use the right arm to put the stapler into the blue plate."}
{"episode_id": 543, "image_dir": "images/ep543", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the left arm to put the white and blue doll into the green plate, and use the right arm to put the stapler into the blue plate."}
{"episode_id": 544, "image_dir": "images/ep544", "total_frames": 30, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 29, "reward_label": -1}], "task_instruction": "Use the left arm to place the green duck on top of the green block."}
{"episode_id": 545, "image_dir": "images/ep545", "total_frames": 29, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 16, "reward_label": -1}, {"start_frame": 16, "end_frame": 28, "reward_label": -1}], "task_instruction": "Use the left arm to place the green duck on top of the green block."}
{"episode_id": 546, "image_dir": "images/ep546", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the left arm to place the green duck on top of the green block."}
{"episode_id": 547, "image_dir": "images/ep547", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 21, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the green duck from the drawer and place it on the red pot."}
{"episode_id": 548, "image_dir": "images/ep548", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the green duck from the drawer and place it on the red pot."}
{"episode_id": 549, "image_dir": "images/ep549", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the right arm to pick up the green duck from the drawer and place it on the red pot."}
{"episode_id": 550, "image_dir": "images/ep550", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 21, "reward_label": -1}], "task_instruction": "Use the right arm to place the green plastic knife into the open top drawer."}
{"episode_id": 551, "image_dir": "images/ep551", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the right arm to place the green plastic knife into the open top drawer."}
{"episode_id": 552, "image_dir": "images/ep552", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to place the pen into the open drawer."}
{"episode_id": 553, "image_dir": "images/ep553", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the left arm to place the pen into the open drawer."}
{"episode_id": 554, "image_dir": "images/ep554", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 11, "reward_label": -1}], "task_instruction": "Use the right arm to place the spoon inside the drawer, and then use the left arm to push the drawer closed."}
{"episode_id": 555, "image_dir": "images/ep555", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 19, "reward_label": 0}], "task_instruction": "Use the right arm to place the spoon inside the drawer, and then use the left arm to push the drawer closed."}
{"episode_id": 556, "image_dir": "images/ep556", "total_frames": 30, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 29, "reward_label": 1}], "task_instruction": "Use the right arm to place the spoon inside the drawer, and then use the left arm to push the drawer closed."}
{"episode_id": 557, "image_dir": "images/ep557", "total_frames": 37, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 28, "reward_label": 1}, {"start_frame": 28, "end_frame": 36, "reward_label": -1}], "task_instruction": "Use thw left arm to place the green spoon into the red pot, and then use the right arm to grasp the lid and cover the pot."}
{"episode_id": 558, "image_dir": "images/ep558", "total_frames": 29, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 28, "reward_label": -1}], "task_instruction": "Use thw left arm to place the green spoon into the red pot, and then use the right arm to grasp the lid and cover the pot."}
{"episode_id": 559, "image_dir": "images/ep559", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the left arm to place the spoon on the purple plate."}
{"episode_id": 560, "image_dir": "images/ep560", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the left arm to place the spoon on the purple plate."}
{"episode_id": 561, "image_dir": "images/ep561", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the left arm to place the spoon on the purple plate."}
{"episode_id": 562, "image_dir": "images/ep562", "total_frames": 23, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 22, "reward_label": -1}], "task_instruction": "Use the right arm to pour the cubes from the cup into the yellow box."}
{"episode_id": 563, "image_dir": "images/ep563", "total_frames": 30, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 29, "reward_label": 1}], "task_instruction": "Use the right arm to pour the cubes from the cup into the yellow box."}
{"episode_id": 564, "image_dir": "images/ep564", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 10, "reward_label": -1}], "task_instruction": "Use the left arm to pour the sausages from the plate into the white basket."}
{"episode_id": 565, "image_dir": "images/ep565", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to pour the sausages from the plate into the white basket."}
{"episode_id": 566, "image_dir": "images/ep566", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 12, "reward_label": -1}], "task_instruction": "Use the right arm to pour the sausages from the plate into the pink bowl."}
{"episode_id": 567, "image_dir": "images/ep567", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the right arm to pour the sausages from the plate into the pink bowl."}
{"episode_id": 568, "image_dir": "images/ep568", "total_frames": 45, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 35, "reward_label": 1}, {"start_frame": 35, "end_frame": 44, "reward_label": -1}], "task_instruction": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot."}
{"episode_id": 569, "image_dir": "images/ep569", "total_frames": 46, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 38, "reward_label": 1}, {"start_frame": 38, "end_frame": 45, "reward_label": -1}], "task_instruction": "Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot."}
{"episode_id": 570, "image_dir": "images/ep570", "total_frames": 29, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 28, "reward_label": 1}], "task_instruction": "Use the right arm to grasp the handle of the pink cup and pour the colored water into the transparent cup."}
{"episode_id": 571, "image_dir": "images/ep571", "total_frames": 19, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 13, "reward_label": -1}, {"start_frame": 13, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to pull the bottom drawer open, then use the right arm to place the can on the table into the drawer, and finally close the drawer with the left arm."}
{"episode_id": 572, "image_dir": "images/ep572", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the left arm to pull the bottom drawer open, then use the right arm to place the can on the table into the drawer, and finally close the drawer with the left arm."}
{"episode_id": 573, "image_dir": "images/ep573", "total_frames": 26, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 25, "reward_label": -1}], "task_instruction": "Use the right arm to pull the bottom drawer, then use the left arm to take out the orange duck in it and put the orange duck into the red pot."}
{"episode_id": 574, "image_dir": "images/ep574", "total_frames": 14, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 5, "reward_label": -1}, {"start_frame": 5, "end_frame": 13, "reward_label": 0}], "task_instruction": "Use the right arm to pull open the bottom drawer."}
{"episode_id": 575, "image_dir": "images/ep575", "total_frames": 15, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}], "task_instruction": "Use the right arm to pull open the bottom drawer."}
{"episode_id": 576, "image_dir": "images/ep576", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to pull open the top drawer."}
{"episode_id": 577, "image_dir": "images/ep577", "total_frames": 26, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 25, "reward_label": -1}], "task_instruction": "Use the right arm to pull the top drawer open, then use the left arm to place the remote controller into the drawer, and finally close the drawer with the right arm."}
{"episode_id": 578, "image_dir": "images/ep578", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 21, "reward_label": -1}], "task_instruction": "Use the right arm to pull the top drawer open, then use the left arm to place the remote controller into the drawer, and finally close the drawer with the right arm."}
{"episode_id": 579, "image_dir": "images/ep579", "total_frames": 27, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 26, "reward_label": 1}], "task_instruction": "Use the left arm to push to close the middle drawer."}
{"episode_id": 580, "image_dir": "images/ep580", "total_frames": 22, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 21, "reward_label": 1}], "task_instruction": "Use the left arm to push to close the middle drawer."}
{"episode_id": 581, "image_dir": "images/ep581", "total_frames": 16, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}], "task_instruction": "Use the left arm to push to close the middle drawer."}
{"episode_id": 582, "image_dir": "images/ep582", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the right arm to put the blackboard eraser into the transparent box."}
{"episode_id": 583, "image_dir": "images/ep583", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the right arm to put the blackboard eraser into the transparent box."}
{"episode_id": 584, "image_dir": "images/ep584", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 17, "reward_label": -1}], "task_instruction": "Use the left arm to put the yellow doll into the pink plate, and use the right arm to put the blue stapler into the purple plate."}
{"episode_id": 585, "image_dir": "images/ep585", "total_frames": 19, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}], "task_instruction": "Use the left arm to put the yellow doll into the pink plate, and use the right arm to put the blue stapler into the purple plate."}
{"episode_id": 586, "image_dir": "images/ep586", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 12, "reward_label": 0}], "task_instruction": "Use the left arm to put the yellow doll into the pink plate, and use the right arm to put the blue stapler into the purple plate."}
{"episode_id": 587, "image_dir": "images/ep587", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 12, "reward_label": 0}], "task_instruction": "Use the left arm to place the mouse from the green tray into the basket"}
{"episode_id": 588, "image_dir": "images/ep588", "total_frames": 20, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 12, "reward_label": 0}, {"start_frame": 12, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the left arm to place the mouse from the green tray into the basket"}
{"episode_id": 589, "image_dir": "images/ep589", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the left arm to place the mouse from the green tray into the basket"}
{"episode_id": 590, "image_dir": "images/ep590", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the right arm to place the computer mouse on the red pot."}
{"episode_id": 591, "image_dir": "images/ep591", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 12, "reward_label": -1}], "task_instruction": "Use the right arm to place the computer mouse on the red pot."}
{"episode_id": 592, "image_dir": "images/ep592", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the right arm to place the computer mouse on the red pot."}
{"episode_id": 593, "image_dir": "images/ep593", "total_frames": 13, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 11, "reward_label": -1}, {"start_frame": 11, "end_frame": 12, "reward_label": 0}], "task_instruction": "Use the right arm to put the black pen into the basket."}
{"episode_id": 594, "image_dir": "images/ep594", "total_frames": 12, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 9, "reward_label": -1}, {"start_frame": 9, "end_frame": 11, "reward_label": 0}], "task_instruction": "Use the right arm to put the black pen into the basket."}
{"episode_id": 595, "image_dir": "images/ep595", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the right arm to put the black pen into the basket."}
{"episode_id": 596, "image_dir": "images/ep596", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to put the blue stapler into the blue plate."}
{"episode_id": 597, "image_dir": "images/ep597", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 8, "reward_label": -1}], "task_instruction": "Use the left arm to put the blue stapler into the blue plate."}
{"episode_id": 598, "image_dir": "images/ep598", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the left arm to put the blue stapler into the blue plate."}
{"episode_id": 599, "image_dir": "images/ep599", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 18, "reward_label": -1}], "task_instruction": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer."}
{"episode_id": 600, "image_dir": "images/ep600", "total_frames": 20, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 0}], "task_instruction": "Use the left arm to put the blue stapler into the top drawer, and then use the right arm to pull close the top drawer."}
{"episode_id": 601, "image_dir": "images/ep601", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 13, "reward_label": -1}], "task_instruction": "Use the right arm to put the doll on the blue plate and the left arm to put the stapler on the box."}
{"episode_id": 602, "image_dir": "images/ep602", "total_frames": 20, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 19, "reward_label": -1}], "task_instruction": "Use the right arm to put the doll on the blue plate and the left arm to put the stapler on the box."}
{"episode_id": 603, "image_dir": "images/ep603", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 12, "reward_label": -1}], "task_instruction": "Use the right arm to put the doll on the blue plate and the left arm to put the stapler on the box."}
{"episode_id": 604, "image_dir": "images/ep604", "total_frames": 23, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 22, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the purple cup and place it in the blue bowl. Then use the right arm to pick up the red coke can and place it into the purple cup."}
{"episode_id": 605, "image_dir": "images/ep605", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 21, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the purple cup and place it in the blue bowl. Then use the right arm to pick up the red coke can and place it into the purple cup."}
{"episode_id": 606, "image_dir": "images/ep606", "total_frames": 24, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 23, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the purple cup and place it in the blue bowl. Then use the right arm to pick up the red coke can and place it into the purple cup."}
{"episode_id": 607, "image_dir": "images/ep607", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the cup and place it on top of the closed book."}
{"episode_id": 608, "image_dir": "images/ep608", "total_frames": 16, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 15, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the cup and place it on top of the closed book."}
{"episode_id": 609, "image_dir": "images/ep609", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the cup and place it on top of the closed book."}
{"episode_id": 610, "image_dir": "images/ep610", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the left arm to stack the green cup into the purple cup."}
{"episode_id": 611, "image_dir": "images/ep611", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 14, "reward_label": -1}], "task_instruction": "Use the left arm to stack the green cup into the purple cup."}
{"episode_id": 612, "image_dir": "images/ep612", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 9, "reward_label": -1}], "task_instruction": "Use the left arm to stack the green cup into the purple cup."}
{"episode_id": 613, "image_dir": "images/ep613", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 7, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the blue pepsi can and place it into the blue cup."}
{"episode_id": 614, "image_dir": "images/ep614", "total_frames": 8, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 7, "reward_label": -1}], "task_instruction": "Use the left arm to pick up the blue pepsi can and place it into the blue cup."}
{"episode_id": 615, "image_dir": "images/ep615", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Use the left arm to pick up the blue pepsi can and place it into the blue cup."}
{"episode_id": 616, "image_dir": "images/ep616", "total_frames": 41, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 34, "reward_label": 1}, {"start_frame": 34, "end_frame": 40, "reward_label": 0}], "task_instruction": "Use the left arm to stack the orange block on top of the green block, then use the right arm to stack the blue block on top of the orange block."}
{"episode_id": 617, "image_dir": "images/ep617", "total_frames": 36, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 23, "reward_label": 1}, {"start_frame": 23, "end_frame": 35, "reward_label": -1}], "task_instruction": "Use the left arm to stack the green cube on top of the blue cube. Subsequently, use the right arm to place the red cube on top of the green one to complete the three-layer structure."}
{"episode_id": 618, "image_dir": "images/ep618", "total_frames": 30, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 18, "reward_label": 1}, {"start_frame": 18, "end_frame": 29, "reward_label": -1}], "task_instruction": "Use the left arm to stack the green cube on top of the blue cube. Subsequently, use the right arm to place the red cube on top of the green one to complete the three-layer structure."}
{"episode_id": 619, "image_dir": "images/ep619", "total_frames": 7, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 3, "reward_label": 1}, {"start_frame": 3, "end_frame": 6, "reward_label": -1}], "task_instruction": "Use the left arm to stack the green cube on top of the blue cube. Subsequently, use the right arm to place the red cube on top of the green one to complete the three-layer structure."}
{"episode_id": 620, "image_dir": "images/ep620", "total_frames": 20, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}], "task_instruction": "Use the left arm to stack the green cube on top of the blue cube. Subsequently, use the right arm to place the red cube on top of the green one to complete the three-layer structure."}
{"episode_id": 621, "image_dir": "images/ep621", "total_frames": 29, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 22, "reward_label": 1}, {"start_frame": 22, "end_frame": 28, "reward_label": -1}], "task_instruction": "Use the left arm to stack the green cube on top of the blue cube. Subsequently, use the right arm to place the red cube on top of the green one to complete the three-layer structure."}
{"episode_id": 622, "image_dir": "images/ep622", "total_frames": 43, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 11, "reward_label": -1}, {"start_frame": 11, "end_frame": 36, "reward_label": 1}, {"start_frame": 36, "end_frame": 42, "reward_label": -1}], "task_instruction": "Pick up the four flowers one by one and insert them into the vase."}
{"episode_id": 623, "image_dir": "images/ep623", "total_frames": 39, "num_segments": 8, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 9, "reward_label": -1}, {"start_frame": 9, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 22, "reward_label": 1}, {"start_frame": 22, "end_frame": 27, "reward_label": -1}, {"start_frame": 27, "end_frame": 33, "reward_label": 1}, {"start_frame": 33, "end_frame": 38, "reward_label": -1}], "task_instruction": "Pick up the four flowers one by one and insert them into the vase."}
{"episode_id": 624, "image_dir": "images/ep624", "total_frames": 38, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 37, "reward_label": 0}], "task_instruction": "Pick up the fruits on the table one by one and place them into the basket."}
{"episode_id": 625, "image_dir": "images/ep625", "total_frames": 28, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 23, "reward_label": 0}, {"start_frame": 23, "end_frame": 27, "reward_label": 1}], "task_instruction": "Pick up the fruits on the table one by one and place them into the basket."}
{"episode_id": 626, "image_dir": "images/ep626", "total_frames": 44, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 31, "reward_label": 0}, {"start_frame": 31, "end_frame": 39, "reward_label": 1}, {"start_frame": 39, "end_frame": 43, "reward_label": -1}], "task_instruction": "Hang the cup on the rack."}
{"episode_id": 627, "image_dir": "images/ep627", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 21, "reward_label": -1}], "task_instruction": "Hang the cup on the rack."}
{"episode_id": 628, "image_dir": "images/ep628", "total_frames": 30, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 19, "reward_label": 0}, {"start_frame": 19, "end_frame": 27, "reward_label": 1}, {"start_frame": 27, "end_frame": 29, "reward_label": -1}], "task_instruction": "Hang the cup on the rack."}
{"episode_id": 629, "image_dir": "images/ep629", "total_frames": 47, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 46, "reward_label": 0}], "task_instruction": "Hang the cup on the rack."}
{"episode_id": 630, "image_dir": "images/ep630", "total_frames": 71, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}, {"start_frame": 19, "end_frame": 70, "reward_label": 0}], "task_instruction": "Hang the cup on the rack."}
{"episode_id": 631, "image_dir": "images/ep631", "total_frames": 55, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}, {"start_frame": 15, "end_frame": 54, "reward_label": 0}], "task_instruction": "Hang the cup on the rack."}
{"episode_id": 632, "image_dir": "images/ep632", "total_frames": 29, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 28, "reward_label": 1}], "task_instruction": "Place the pingpong ball onto the small tray without dropping it, then lift the small tray and stack it onto the large tray."}
{"episode_id": 633, "image_dir": "images/ep633", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 17, "reward_label": -1}], "task_instruction": "Place the pingpong ball onto the small tray without dropping it, then lift the small tray and stack it onto the large tray."}
{"episode_id": 634, "image_dir": "images/ep634", "total_frames": 31, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 22, "reward_label": 0}, {"start_frame": 22, "end_frame": 30, "reward_label": 1}], "task_instruction": "Place the pingpong ball onto the small tray without dropping it, then lift the small tray and stack it onto the large tray."}
{"episode_id": 635, "image_dir": "images/ep635", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 13, "reward_label": -1}], "task_instruction": "Place the pingpong ball onto the small tray without dropping it, then lift the small tray and stack it onto the large tray."}
{"episode_id": 636, "image_dir": "images/ep636", "total_frames": 24, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}, {"start_frame": 14, "end_frame": 21, "reward_label": 0}, {"start_frame": 21, "end_frame": 23, "reward_label": -1}], "task_instruction": "Place the pingpong ball onto the small tray without dropping it, then lift the small tray and stack it onto the large tray."}
{"episode_id": 637, "image_dir": "images/ep637", "total_frames": 19, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 13, "reward_label": 0}, {"start_frame": 13, "end_frame": 18, "reward_label": 1}], "task_instruction": "Place the pingpong ball onto the small tray without dropping it, then lift the small tray and stack it onto the large tray."}
{"episode_id": 638, "image_dir": "images/ep638", "total_frames": 101, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}, {"start_frame": 9, "end_frame": 36, "reward_label": -1}, {"start_frame": 36, "end_frame": 52, "reward_label": 1}, {"start_frame": 52, "end_frame": 68, "reward_label": -1}, {"start_frame": 68, "end_frame": 100, "reward_label": 1}], "task_instruction": "Place the stationery into the yellow box and the electronic items into the blue box."}
{"episode_id": 639, "image_dir": "images/ep639", "total_frames": 9, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}], "task_instruction": "Use the lint roller to remove debris from the clothing."}
{"episode_id": 640, "image_dir": "images/ep640", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 16, "reward_label": -1}], "task_instruction": "Use the lint roller to remove debris from the clothing."}
{"episode_id": 641, "image_dir": "images/ep641", "total_frames": 22, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 21, "reward_label": 1}], "task_instruction": "Use the lint roller to remove debris from the clothing."}
{"episode_id": 642, "image_dir": "images/ep642", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 12, "reward_label": -1}], "task_instruction": "Place the charger, charging cable, accessory bag, and tablet into the box, then close the lid."}
{"episode_id": 643, "image_dir": "images/ep643", "total_frames": 32, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 31, "reward_label": 0}], "task_instruction": "Put the toothbrush and toothpaste into the toiletries case, close it, and place it into the basket."}
{"episode_id": 644, "image_dir": "images/ep644", "total_frames": 17, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 16, "reward_label": -1}], "task_instruction": "Hold the toast with one hand, scoop jam from the jar with the other hand, spread it onto the toast, and put the knife down."}
{"episode_id": 645, "image_dir": "images/ep645", "total_frames": 41, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 40, "reward_label": 1}], "task_instruction": "Search for the two green blocks one by one and place them into the yellow basket."}
{"episode_id": 646, "image_dir": "images/ep646", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 13, "reward_label": -1}], "task_instruction": "Open the drawer, place the bottle opener inside, and close the drawer."}
{"episode_id": 647, "image_dir": "images/ep647", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 13, "reward_label": -1}], "task_instruction": "Open the drawer, place the bottle opener inside, and close the drawer."}
{"episode_id": 648, "image_dir": "images/ep648", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 18, "reward_label": -1}], "task_instruction": "Open the drawer, place the bottle opener inside, and close the drawer."}
{"episode_id": 649, "image_dir": "images/ep649", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 11, "reward_label": -1}], "task_instruction": "Open the drawer, place the bottle opener inside, and close the drawer."}
{"episode_id": 650, "image_dir": "images/ep650", "total_frames": 27, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 26, "reward_label": 1}], "task_instruction": "Open the drawer, place the bottle opener inside, and close the drawer."}
{"episode_id": 651, "image_dir": "images/ep651", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Press the buttons in the following order pink, blue, green, and yellow."}
{"episode_id": 652, "image_dir": "images/ep652", "total_frames": 22, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}, {"start_frame": 17, "end_frame": 21, "reward_label": -1}], "task_instruction": "Pick up the pens on the table and place them into the pen holder one by one."}
{"episode_id": 653, "image_dir": "images/ep653", "total_frames": 38, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 26, "reward_label": 1}, {"start_frame": 26, "end_frame": 37, "reward_label": -1}], "task_instruction": "Pick up the two books on the table one by one and place them onto the bookshelf."}
{"episode_id": 654, "image_dir": "images/ep654", "total_frames": 25, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 20, "reward_label": 0}, {"start_frame": 20, "end_frame": 24, "reward_label": 1}], "task_instruction": "Unzip the backpack and place the pencil case inside."}
{"episode_id": 655, "image_dir": "images/ep655", "total_frames": 40, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}, {"start_frame": 11, "end_frame": 39, "reward_label": 0}], "task_instruction": "Unzip the backpack and place the pencil case inside."}
{"episode_id": 656, "image_dir": "images/ep656", "total_frames": 26, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 25, "reward_label": 0}], "task_instruction": "Match the two pairs of shoes on the table and place them onto the shoe rack."}
{"episode_id": 657, "image_dir": "images/ep657", "total_frames": 9, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}], "task_instruction": "Hold the bowl steady with one hand and use the spoon with the other hand to scoop beans into the other bowl."}
{"episode_id": 658, "image_dir": "images/ep658", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 9, "reward_label": 1}], "task_instruction": "Hold the bowl steady with one hand and use the spoon with the other hand to scoop beans into the other bowl."}
{"episode_id": 659, "image_dir": "images/ep659", "total_frames": 19, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 16, "reward_label": 1}, {"start_frame": 16, "end_frame": 18, "reward_label": -1}], "task_instruction": "Hold the bowl steady with one hand and use the spoon with the other hand to scoop beans into the other bowl."}
{"episode_id": 660, "image_dir": "images/ep660", "total_frames": 20, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}], "task_instruction": "Hold the bowl steady with one hand and use the spoon with the other hand to scoop beans into the other bowl."}
{"episode_id": 661, "image_dir": "images/ep661", "total_frames": 24, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 0}, {"start_frame": 13, "end_frame": 23, "reward_label": 1}], "task_instruction": "Pick up the paper, move it above the shredder, and feed it into the shredder successfully."}
{"episode_id": 662, "image_dir": "images/ep662", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}, {"start_frame": 8, "end_frame": 11, "reward_label": -1}], "task_instruction": "Pick up the paper, move it above the shredder, and feed it into the shredder successfully."}
{"episode_id": 663, "image_dir": "images/ep663", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 12, "reward_label": -1}], "task_instruction": "Pick up the paper, move it above the shredder, and feed it into the shredder successfully."}
{"episode_id": 664, "image_dir": "images/ep664", "total_frames": 16, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 8, "reward_label": -1}, {"start_frame": 8, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 15, "reward_label": -1}], "task_instruction": "Pick up the paper, move it above the shredder, and feed it into the shredder successfully."}
{"episode_id": 665, "image_dir": "images/ep665", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Pick up the paper, move it above the shredder, and feed it into the shredder successfully."}
{"episode_id": 666, "image_dir": "images/ep666", "total_frames": 9, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 8, "reward_label": -1}], "task_instruction": "Pick up the paper, move it above the shredder, and feed it into the shredder successfully."}
{"episode_id": 667, "image_dir": "images/ep667", "total_frames": 11, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 10, "reward_label": -1}], "task_instruction": "Pick up the paper, move it above the shredder, and feed it into the shredder successfully."}
{"episode_id": 668, "image_dir": "images/ep668", "total_frames": 9, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 8, "reward_label": 1}], "task_instruction": "Place the blue bowl into the beige bowl, then place the green bowl into the blue bowl."}
{"episode_id": 669, "image_dir": "images/ep669", "total_frames": 18, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 17, "reward_label": 1}], "task_instruction": "Place the blue bowl into the beige bowl, then place the green bowl into the blue bowl."}
{"episode_id": 670, "image_dir": "images/ep670", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 12, "reward_label": 0}], "task_instruction": "Place the blue bowl into the beige bowl, then place the green bowl into the blue bowl."}
{"episode_id": 671, "image_dir": "images/ep671", "total_frames": 15, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 14, "reward_label": 1}], "task_instruction": "Place the blue bowl into the beige bowl, then place the green bowl into the blue bowl."}
{"episode_id": 672, "image_dir": "images/ep672", "total_frames": 20, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}], "task_instruction": "Hold the paper with one gripper, pick up the stamp with the other, ink it, stamp the signature area, and return the stamp to the ink pad."}
{"episode_id": 673, "image_dir": "images/ep673", "total_frames": 48, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 47, "reward_label": 0}], "task_instruction": "Hold the paper with one gripper, pick up the stamp with the other, ink it, stamp the signature area, and return the stamp to the ink pad."}
{"episode_id": 674, "image_dir": "images/ep674", "total_frames": 13, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 12, "reward_label": -1}], "task_instruction": "Hold the paper with one gripper, pick up the stamp with the other, ink it, stamp the signature area, and return the stamp to the ink pad."}
{"episode_id": 675, "image_dir": "images/ep675", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 5, "reward_label": 1}, {"start_frame": 5, "end_frame": 11, "reward_label": -1}], "task_instruction": "Hold the paper with one gripper, pick up the stamp with the other, ink it, stamp the signature area, and return the stamp to the ink pad."}
{"episode_id": 676, "image_dir": "images/ep676", "total_frames": 15, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 14, "reward_label": -1}], "task_instruction": "Hold the paper with one gripper, pick up the stamp with the other, ink it, stamp the signature area, and return the stamp to the ink pad."}
{"episode_id": 677, "image_dir": "images/ep677", "total_frames": 20, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 9, "reward_label": 0}, {"start_frame": 9, "end_frame": 19, "reward_label": 1}], "task_instruction": "Hold the broom with one gripper and the dustpan with the other, then sweep the trash on the table into the dustpan."}
{"episode_id": 678, "image_dir": "images/ep678", "total_frames": 16, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 15, "reward_label": 1}], "task_instruction": "Hold the broom with one gripper and the dustpan with the other, then sweep the trash on the table into the dustpan."}
{"episode_id": 679, "image_dir": "images/ep679", "total_frames": 32, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 31, "reward_label": 1}], "task_instruction": "Hold the broom with one gripper and the dustpan with the other, then sweep the trash on the table into the dustpan."}
{"episode_id": 680, "image_dir": "images/ep680", "total_frames": 47, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 18, "reward_label": -1}, {"start_frame": 18, "end_frame": 46, "reward_label": -1}], "task_instruction": "Put items such as makeup brushes, eyeliner, and mascara into the makeup cup, and place items such as lotion and sunscreen into the makeup bag."}
{"episode_id": 681, "image_dir": "images/ep681", "total_frames": 20, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 19, "reward_label": 1}], "task_instruction": "Put items such as makeup brushes, eyeliner, and mascara into the makeup cup, and place items such as lotion and sunscreen into the makeup bag."}
{"episode_id": 682, "image_dir": "images/ep682", "total_frames": 71, "num_segments": 5, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 11, "reward_label": -1}, {"start_frame": 11, "end_frame": 22, "reward_label": 1}, {"start_frame": 22, "end_frame": 55, "reward_label": 0}, {"start_frame": 55, "end_frame": 70, "reward_label": 1}], "task_instruction": "Turn on the desk lamp."}
{"episode_id": 683, "image_dir": "images/ep683", "total_frames": 94, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 7, "reward_label": 1}, {"start_frame": 7, "end_frame": 93, "reward_label": 0}], "task_instruction": "Turn on the desk lamp."}
{"episode_id": 684, "image_dir": "images/ep684", "total_frames": 14, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 13, "reward_label": 0}], "task_instruction": "Turn on the desk lamp."}
{"episode_id": 685, "image_dir": "images/ep685", "total_frames": 12, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 11, "reward_label": 0}], "task_instruction": "Turn on the desk lamp."}
{"episode_id": 686, "image_dir": "images/ep686", "total_frames": 11, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}], "task_instruction": "Turn on the desk lamp."}
{"episode_id": 687, "image_dir": "images/ep687", "total_frames": 10, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 4, "reward_label": 1}, {"start_frame": 4, "end_frame": 9, "reward_label": -1}], "task_instruction": "Turn on the desk lamp."}
{"episode_id": 688, "image_dir": "images/ep688", "total_frames": 55, "num_segments": 6, "segments": [{"start_frame": 0, "end_frame": 6, "reward_label": 1}, {"start_frame": 6, "end_frame": 17, "reward_label": -1}, {"start_frame": 17, "end_frame": 23, "reward_label": 1}, {"start_frame": 23, "end_frame": 32, "reward_label": -1}, {"start_frame": 32, "end_frame": 39, "reward_label": 1}, {"start_frame": 39, "end_frame": 54, "reward_label": -1}], "task_instruction": "Turn on the desk lamp."}
{"episode_id": 689, "image_dir": "images/ep689", "total_frames": 38, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}, {"start_frame": 10, "end_frame": 37, "reward_label": 0}], "task_instruction": "Turn on the desk lamp."}
{"episode_id": 690, "image_dir": "images/ep690", "total_frames": 62, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 61, "reward_label": 0}], "task_instruction": "Turn on the desk lamp."}
{"episode_id": 691, "image_dir": "images/ep691", "total_frames": 18, "num_segments": 3, "segments": [{"start_frame": 0, "end_frame": 13, "reward_label": 1}, {"start_frame": 13, "end_frame": 14, "reward_label": 0}, {"start_frame": 14, "end_frame": 17, "reward_label": 1}], "task_instruction": "Pick up the watering can and water the potted plant."}
{"episode_id": 692, "image_dir": "images/ep692", "total_frames": 64, "num_segments": 4, "segments": [{"start_frame": 0, "end_frame": 2, "reward_label": 1}, {"start_frame": 2, "end_frame": 20, "reward_label": 0}, {"start_frame": 20, "end_frame": 31, "reward_label": 1}, {"start_frame": 31, "end_frame": 63, "reward_label": 0}], "task_instruction": "Pick up the watering can and water the potted plant."}
{"episode_id": 693, "image_dir": "images/ep693", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Hold the blackboard steady with one gripper and use the eraser with the other to wipe the writing clean."}
{"episode_id": 694, "image_dir": "images/ep694", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Hold the blackboard steady with one gripper and use the eraser with the other to wipe the writing clean."}
{"episode_id": 695, "image_dir": "images/ep695", "total_frames": 11, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 10, "reward_label": 1}], "task_instruction": "Hold the blackboard steady with one gripper and use the eraser with the other to wipe the writing clean."}
{"episode_id": 696, "image_dir": "images/ep696", "total_frames": 18, "num_segments": 2, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}, {"start_frame": 12, "end_frame": 17, "reward_label": -1}], "task_instruction": "Hold the blackboard steady with one gripper and use the eraser with the other to wipe the writing clean."}
{"episode_id": 697, "image_dir": "images/ep697", "total_frames": 13, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 12, "reward_label": 1}], "task_instruction": "Hold the blackboard steady with one gripper and use the eraser with the other to wipe the writing clean."}
{"episode_id": 698, "image_dir": "images/ep698", "total_frames": 12, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 11, "reward_label": 1}], "task_instruction": "Hold the blackboard steady with one gripper and use the eraser with the other to wipe the writing clean."}
{"episode_id": 699, "image_dir": "images/ep699", "total_frames": 10, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 9, "reward_label": 1}], "task_instruction": "Hold the blackboard steady with one gripper and use the eraser with the other to wipe the writing clean."}
{"episode_id": 700, "image_dir": "images/ep700", "total_frames": 26, "num_segments": 1, "segments": [{"start_frame": 0, "end_frame": 25, "reward_label": 1}], "task_instruction": "Place the object on the cloth and wrap it from all four sides."}