| [ |
| { |
| "episode": 0, |
| "intervals": [ |
| { |
| "label": "The robot arm moves from its starting position and commits to picking up the red cube.", |
| "start": 0, |
| "end": 75 |
| }, |
| { |
| "label": "The gripper approaches, closes on, and lifts the red cube.", |
| "start": 93, |
| "end": 126 |
| }, |
| { |
| "label": "The gripper moves the cube over the bowl and releases it inside.", |
| "start": 180, |
| "end": 204 |
| } |
| ], |
| "duration_s": 7.47 |
| }, |
| { |
| "episode": 1, |
| "intervals": [ |
| { |
| "label": "Arm moves towards a cube", |
| "start": 0, |
| "end": 45 |
| }, |
| { |
| "label": "Gripper grabs the cube", |
| "start": 66, |
| "end": 108 |
| }, |
| { |
| "label": "Gripper drops cube in bowl", |
| "start": 150, |
| "end": 180 |
| } |
| ], |
| "duration_s": 7.03 |
| }, |
| { |
| "episode": 2, |
| "intervals": [ |
| { |
| "label": "The robot arm moves towards the blue cube, committing to its target.", |
| "start": 0, |
| "end": 66 |
| }, |
| { |
| "label": "The gripper descends, closes around the blue cube, and lifts it off the table.", |
| "start": 75, |
| "end": 120 |
| }, |
| { |
| "label": "The arm holds the cube over the bowl, lowers it, releases it, and the cube comes to rest inside.", |
| "start": 177, |
| "end": 213 |
| } |
| ], |
| "duration_s": 7.2 |
| }, |
| { |
| "episode": 3, |
| "intervals": [ |
| { |
| "label": "Arm commits to a cube", |
| "start": 0, |
| "end": 45 |
| }, |
| { |
| "label": "Gripper grasps the cube", |
| "start": 60, |
| "end": 99 |
| }, |
| { |
| "label": "Cube is released into the bowl", |
| "start": 126, |
| "end": 147 |
| } |
| ], |
| "duration_s": 5.9 |
| }, |
| { |
| "episode": 4, |
| "intervals": [ |
| { |
| "label": "Arm moves to commit to a cube", |
| "start": 0, |
| "end": 30 |
| }, |
| { |
| "label": "Gripper closes and grasps the cube", |
| "start": 66, |
| "end": 111 |
| }, |
| { |
| "label": "Cube is released and settles in the bowl", |
| "start": 171, |
| "end": 204 |
| } |
| ], |
| "duration_s": 6.8 |
| }, |
| { |
| "episode": 5, |
| "intervals": [ |
| { |
| "label": "Approaching the red cube", |
| "start": 0, |
| "end": 63 |
| }, |
| { |
| "label": "Grasping the red cube", |
| "start": 69, |
| "end": 102 |
| }, |
| { |
| "label": "Placing the red cube into the bowl", |
| "start": 135, |
| "end": 162 |
| } |
| ], |
| "duration_s": 6.5 |
| }, |
| { |
| "episode": 6, |
| "intervals": [ |
| { |
| "label": "The arm commits to the green cube.", |
| "start": 0, |
| "end": 75 |
| }, |
| { |
| "label": "The gripper grabs the green cube.", |
| "start": 102, |
| "end": 135 |
| }, |
| { |
| "label": "The gripper drops the cube in the bowl.", |
| "start": 180, |
| "end": 216 |
| } |
| ], |
| "duration_s": 7.6 |
| }, |
| { |
| "episode": 7, |
| "intervals": [ |
| { |
| "label": "The robot arm moves towards the blue cube.", |
| "start": 0, |
| "end": 60 |
| }, |
| { |
| "label": "The gripper approaches, grabs, and lifts the blue cube.", |
| "start": 75, |
| "end": 108 |
| }, |
| { |
| "label": "The robot arm drops the blue cube into the bowl.", |
| "start": 144, |
| "end": 168 |
| } |
| ], |
| "duration_s": 6.13 |
| }, |
| { |
| "episode": 8, |
| "intervals": [ |
| { |
| "label": "The arm moves toward the red cube.", |
| "start": 0, |
| "end": 63 |
| }, |
| { |
| "label": "The gripper grasps and lifts the red cube.", |
| "start": 66, |
| "end": 120 |
| }, |
| { |
| "label": "The gripper holds the cube over the bowl.", |
| "start": 174, |
| "end": 207 |
| } |
| ], |
| "duration_s": 6.93 |
| }, |
| { |
| "episode": 9, |
| "intervals": [ |
| { |
| "label": "Arm approaches the red cube.", |
| "start": 0, |
| "end": 63 |
| }, |
| { |
| "label": "Gripper closes and grasps the red cube.", |
| "start": 90, |
| "end": 123 |
| }, |
| { |
| "label": "Gripper releases the red cube into the bowl.", |
| "start": 180, |
| "end": 204 |
| } |
| ], |
| "duration_s": 6.9 |
| }, |
| { |
| "episode": 10, |
| "intervals": [ |
| { |
| "label": "Robot arm approaches the red cube.", |
| "start": 0, |
| "end": 3 |
| }, |
| { |
| "label": "Gripper grabs the red cube.", |
| "start": 9, |
| "end": 15 |
| }, |
| { |
| "label": "Gripper releases the red cube into the bowl.", |
| "start": 24, |
| "end": 30 |
| } |
| ], |
| "duration_s": 6.33 |
| }, |
| { |
| "episode": 11, |
| "intervals": [ |
| { |
| "label": "Approaching the first cube", |
| "start": 0, |
| "end": 18 |
| }, |
| { |
| "label": "Grasping the target cube", |
| "start": 30, |
| "end": 42 |
| }, |
| { |
| "label": "Placing the cube in the bowl", |
| "start": 189, |
| "end": 207 |
| } |
| ], |
| "duration_s": 7.5 |
| }, |
| { |
| "episode": 12, |
| "intervals": [ |
| { |
| "label": "Move arm to blue cube", |
| "start": 0, |
| "end": 45 |
| }, |
| { |
| "label": "Grasp blue cube", |
| "start": 60, |
| "end": 99 |
| }, |
| { |
| "label": "Place cube in bowl", |
| "start": 165, |
| "end": 198 |
| } |
| ], |
| "duration_s": 7.1 |
| }, |
| { |
| "episode": 13, |
| "intervals": [ |
| { |
| "label": "Arm commits to blue cube", |
| "start": 0, |
| "end": 18 |
| }, |
| { |
| "label": "Gripper grabs blue cube", |
| "start": 24, |
| "end": 48 |
| }, |
| { |
| "label": "Gripper drops cube in bowl", |
| "start": 81, |
| "end": 99 |
| } |
| ], |
| "duration_s": 8.87 |
| }, |
| { |
| "episode": 14, |
| "intervals": [ |
| { |
| "label": "The arm moves towards the green cube", |
| "start": 0, |
| "end": 30 |
| }, |
| { |
| "label": "The gripper closes on and lifts the green cube", |
| "start": 66, |
| "end": 105 |
| }, |
| { |
| "label": "The gripper releases the cube into the bowl", |
| "start": 165, |
| "end": 195 |
| } |
| ], |
| "duration_s": 7.67 |
| }, |
| { |
| "episode": 15, |
| "intervals": [ |
| { |
| "label": "The robot arm moves towards the red cube to pick it up.", |
| "start": 0, |
| "end": 9 |
| }, |
| { |
| "label": "The robot arm grips the red cube and lifts it off the table.", |
| "start": 12, |
| "end": 15 |
| }, |
| { |
| "label": "The robot arm releases the red cube into the bowl.", |
| "start": 18, |
| "end": 24 |
| } |
| ], |
| "duration_s": 7.53 |
| }, |
| { |
| "episode": 16, |
| "intervals": [ |
| { |
| "label": "The arm moves toward the blue cube.", |
| "start": 0, |
| "end": 45 |
| }, |
| { |
| "label": "The gripper grabs the blue cube.", |
| "start": 72, |
| "end": 126 |
| }, |
| { |
| "label": "The gripper drops the blue cube into the bowl.", |
| "start": 174, |
| "end": 195 |
| } |
| ], |
| "duration_s": 7.0 |
| }, |
| { |
| "episode": 17, |
| "intervals": [ |
| { |
| "label": "The robot arm moves towards the blue cube.", |
| "start": 0, |
| "end": 30 |
| }, |
| { |
| "label": "The gripper closes around the blue cube and lifts it.", |
| "start": 57, |
| "end": 84 |
| }, |
| { |
| "label": "The gripper releases the blue cube into the bowl.", |
| "start": 114, |
| "end": 147 |
| } |
| ], |
| "duration_s": 5.8 |
| }, |
| { |
| "episode": 18, |
| "intervals": [ |
| { |
| "label": "The arm commits to one cube", |
| "start": 0, |
| "end": 54 |
| }, |
| { |
| "label": "The gripper grabs the target cube", |
| "start": 78, |
| "end": 108 |
| }, |
| { |
| "label": "The cube is released into the bowl", |
| "start": 156, |
| "end": 180 |
| } |
| ], |
| "duration_s": 6.83 |
| }, |
| { |
| "episode": 19, |
| "intervals": [ |
| { |
| "label": "The robot arm moving towards a specific cube.", |
| "start": 0, |
| "end": 84 |
| }, |
| { |
| "label": "The robot gripper grasping the cube.", |
| "start": 114, |
| "end": 156 |
| }, |
| { |
| "label": "The robot gripper dropping the cube into the bowl.", |
| "start": 195, |
| "end": 219 |
| } |
| ], |
| "duration_s": 8.3 |
| }, |
| { |
| "episode": 20, |
| "intervals": [ |
| { |
| "label": "Robot arm commits to picking up the red cube.", |
| "start": 0, |
| "end": 66 |
| }, |
| { |
| "label": "Robot gripper closes around and picks up the red cube.", |
| "start": 87, |
| "end": 114 |
| }, |
| { |
| "label": "Robot arm drops the red cube into the white bowl.", |
| "start": 150, |
| "end": 180 |
| } |
| ], |
| "duration_s": 6.73 |
| }, |
| { |
| "episode": 21, |
| "intervals": [ |
| { |
| "label": "Approaching a cube", |
| "start": 0, |
| "end": 24 |
| }, |
| { |
| "label": "Grasping the cube", |
| "start": 18, |
| "end": 48 |
| }, |
| { |
| "label": "Releasing the cube into the bowl", |
| "start": 99, |
| "end": 117 |
| } |
| ], |
| "duration_s": 7.33 |
| }, |
| { |
| "episode": 22, |
| "intervals": [ |
| { |
| "label": "Robot arm approaches the red cube.", |
| "start": 0, |
| "end": 66 |
| }, |
| { |
| "label": "Robot arm grasps the red cube.", |
| "start": 78, |
| "end": 111 |
| }, |
| { |
| "label": "Robot arm releases the cube into the bowl.", |
| "start": 162, |
| "end": 198 |
| } |
| ], |
| "duration_s": 6.83 |
| }, |
| { |
| "episode": 23, |
| "intervals": [ |
| { |
| "label": "Robot arm committing to the red cube.", |
| "start": 0, |
| "end": 36 |
| }, |
| { |
| "label": "Robot gripper picking up the red cube.", |
| "start": 66, |
| "end": 93 |
| }, |
| { |
| "label": "Robot arm placing the red cube in the bowl.", |
| "start": 141, |
| "end": 165 |
| } |
| ], |
| "duration_s": 5.97 |
| }, |
| { |
| "episode": 24, |
| "intervals": [ |
| { |
| "label": "Arm moves towards the blue cube", |
| "start": 0, |
| "end": 105 |
| }, |
| { |
| "label": "Gripper grasps the blue cube", |
| "start": 120, |
| "end": 150 |
| }, |
| { |
| "label": "Gripper releases the blue cube into the bowl", |
| "start": 177, |
| "end": 198 |
| } |
| ], |
| "duration_s": 7.13 |
| }, |
| { |
| "episode": 25, |
| "intervals": [ |
| { |
| "label": "The robot arm moves towards the green cube.", |
| "start": 0, |
| "end": 48 |
| }, |
| { |
| "label": "The robot arm grasps the green cube.", |
| "start": 114, |
| "end": 153 |
| }, |
| { |
| "label": "The robot arm releases the green cube into the bowl.", |
| "start": 231, |
| "end": 270 |
| } |
| ], |
| "duration_s": 9.87 |
| }, |
| { |
| "episode": 26, |
| "intervals": [ |
| { |
| "label": "The robot arm approaches the red cube.", |
| "start": 0, |
| "end": 75 |
| }, |
| { |
| "label": "The gripper grasps and lifts the red cube.", |
| "start": 105, |
| "end": 150 |
| }, |
| { |
| "label": "The gripper releases the red cube into the bowl.", |
| "start": 195, |
| "end": 219 |
| } |
| ], |
| "duration_s": 8.17 |
| }, |
| { |
| "episode": 27, |
| "intervals": [ |
| { |
| "label": "The robot arm moves towards the blue cube.", |
| "start": 0, |
| "end": 24 |
| }, |
| { |
| "label": "The robot arm grips the blue cube.", |
| "start": 33, |
| "end": 63 |
| }, |
| { |
| "label": "The robot arm drops the blue cube into the bowl.", |
| "start": 90, |
| "end": 117 |
| } |
| ], |
| "duration_s": 6.43 |
| }, |
| { |
| "episode": 28, |
| "intervals": [ |
| { |
| "label": "The gripper moves from its starting position and commits to the green cube.", |
| "start": 0, |
| "end": 27 |
| }, |
| { |
| "label": "The gripper lowers, closes its fingers around the green cube, and lifts it off the table.", |
| "start": 33, |
| "end": 48 |
| }, |
| { |
| "label": "The gripper holds the cube above the bowl, releases it, and the cube comes to a rest inside.", |
| "start": 90, |
| "end": 105 |
| } |
| ], |
| "duration_s": 6.33 |
| }, |
| { |
| "episode": 29, |
| "intervals": [ |
| { |
| "label": "Committing to a cube", |
| "start": 0, |
| "end": 84 |
| }, |
| { |
| "label": "Grabbing the cube", |
| "start": 87, |
| "end": 120 |
| }, |
| { |
| "label": "Releasing the cube into the bowl", |
| "start": 165, |
| "end": 189 |
| } |
| ], |
| "duration_s": 7.13 |
| }, |
| { |
| "episode": 30, |
| "intervals": [ |
| { |
| "label": "Robot arm moves to target the green cube.", |
| "start": 0, |
| "end": 60 |
| }, |
| { |
| "label": "Gripper grasps and lifts the green cube.", |
| "start": 57, |
| "end": 102 |
| }, |
| { |
| "label": "Gripper releases the cube into the bowl.", |
| "start": 150, |
| "end": 180 |
| } |
| ], |
| "duration_s": 6.87 |
| }, |
| { |
| "episode": 31, |
| "intervals": [ |
| { |
| "label": "The arm moves toward the red cube.", |
| "start": 0, |
| "end": 30 |
| }, |
| { |
| "label": "The gripper grasps the red cube.", |
| "start": 72, |
| "end": 105 |
| }, |
| { |
| "label": "The gripper releases the cube into the bowl.", |
| "start": 177, |
| "end": 213 |
| } |
| ], |
| "duration_s": 7.6 |
| }, |
| { |
| "episode": 32, |
| "intervals": [ |
| { |
| "label": "Approaching the target cube", |
| "start": 0, |
| "end": 54 |
| }, |
| { |
| "label": "Grasping the target cube", |
| "start": 69, |
| "end": 105 |
| }, |
| { |
| "label": "Dropping the cube into the bowl", |
| "start": 150, |
| "end": 177 |
| } |
| ], |
| "duration_s": 7.17 |
| }, |
| { |
| "episode": 33, |
| "intervals": [ |
| { |
| "label": "The arm moves toward the red cube.", |
| "start": 0, |
| "end": 27 |
| }, |
| { |
| "label": "The gripper grabs the red cube.", |
| "start": 45, |
| "end": 72 |
| }, |
| { |
| "label": "The gripper releases the cube into the bowl.", |
| "start": 135, |
| "end": 168 |
| } |
| ], |
| "duration_s": 6.63 |
| }, |
| { |
| "episode": 34, |
| "intervals": [ |
| { |
| "label": "The robot arm approaches the red cube.", |
| "start": 0, |
| "end": 33 |
| }, |
| { |
| "label": "The robot arm grasps the red cube.", |
| "start": 54, |
| "end": 90 |
| }, |
| { |
| "label": "The robot arm places the red cube in the bowl.", |
| "start": 138, |
| "end": 156 |
| } |
| ], |
| "duration_s": 6.1 |
| }, |
| { |
| "episode": 35, |
| "intervals": [ |
| { |
| "label": "Moving towards the red cube", |
| "start": 0, |
| "end": 39 |
| }, |
| { |
| "label": "Grasping the red cube", |
| "start": 63, |
| "end": 99 |
| }, |
| { |
| "label": "Releasing the cube into the bowl", |
| "start": 144, |
| "end": 171 |
| } |
| ], |
| "duration_s": 6.77 |
| }, |
| { |
| "episode": 36, |
| "intervals": [ |
| { |
| "label": "The robot arm moves towards the green cube.", |
| "start": 0, |
| "end": 6 |
| }, |
| { |
| "label": "The robot gripper grabs the green cube.", |
| "start": 12, |
| "end": 21 |
| }, |
| { |
| "label": "The robot gripper releases the green cube into the bowl.", |
| "start": 168, |
| "end": 180 |
| } |
| ], |
| "duration_s": 7.13 |
| }, |
| { |
| "episode": 37, |
| "intervals": [ |
| { |
| "label": "Robot arm initial state before moving toward a cube", |
| "start": 0, |
| "end": 12 |
| }, |
| { |
| "label": "Gripper grabbing the green cube", |
| "start": 66, |
| "end": 93 |
| }, |
| { |
| "label": "Gripper releasing the cube into the bowl", |
| "start": 147, |
| "end": 177 |
| } |
| ], |
| "duration_s": 6.63 |
| }, |
| { |
| "episode": 38, |
| "intervals": [ |
| { |
| "label": "Approaching and committing to a cube", |
| "start": 0, |
| "end": 54 |
| }, |
| { |
| "label": "Gripping and lifting the cube", |
| "start": 75, |
| "end": 108 |
| }, |
| { |
| "label": "Releasing the cube into the bowl", |
| "start": 144, |
| "end": 171 |
| } |
| ], |
| "duration_s": 6.0 |
| }, |
| { |
| "episode": 39, |
| "intervals": [ |
| { |
| "label": "Robot arm moves towards the green cube.", |
| "start": 0, |
| "end": 27 |
| }, |
| { |
| "label": "Robot arm grasps the green cube.", |
| "start": 39, |
| "end": 84 |
| }, |
| { |
| "label": "Robot arm places the green cube in the bowl.", |
| "start": 159, |
| "end": 180 |
| } |
| ], |
| "duration_s": 7.4 |
| }, |
| { |
| "episode": 40, |
| "intervals": [ |
| { |
| "label": "The gripper commits to one cube", |
| "start": 0, |
| "end": 30 |
| }, |
| { |
| "label": "The gripper grabs the target cube", |
| "start": 42, |
| "end": 87 |
| }, |
| { |
| "label": "The gripper releases the cube into the bowl", |
| "start": 174, |
| "end": 201 |
| } |
| ], |
| "duration_s": 8.43 |
| }, |
| { |
| "episode": 41, |
| "intervals": [ |
| { |
| "label": "The robot arm moves towards and commits to the blue cube.", |
| "start": 0, |
| "end": 45 |
| }, |
| { |
| "label": "The gripper approaches, closes around, and lifts the blue cube.", |
| "start": 66, |
| "end": 102 |
| }, |
| { |
| "label": "The gripper releases the blue cube into the bowl.", |
| "start": 156, |
| "end": 183 |
| } |
| ], |
| "duration_s": 7.2 |
| }, |
| { |
| "episode": 42, |
| "intervals": [ |
| { |
| "label": "Robot arm moves towards the blue cube", |
| "start": 0, |
| "end": 45 |
| }, |
| { |
| "label": "Robot gripper picks up the blue cube", |
| "start": 84, |
| "end": 117 |
| }, |
| { |
| "label": "Robot gripper drops the blue cube into the bowl", |
| "start": 150, |
| "end": 174 |
| } |
| ], |
| "duration_s": 6.17 |
| }, |
| { |
| "episode": 43, |
| "intervals": [ |
| { |
| "label": "Gripper moves from its initial position and commits to the green cube.", |
| "start": 0, |
| "end": 33 |
| }, |
| { |
| "label": "Gripper approaches, closes around, and lifts the green cube.", |
| "start": 54, |
| "end": 81 |
| }, |
| { |
| "label": "Gripper holds the cube over the bowl, releases it, and the cube comes to rest.", |
| "start": 144, |
| "end": 171 |
| } |
| ], |
| "duration_s": 6.47 |
| }, |
| { |
| "episode": 44, |
| "intervals": [ |
| { |
| "label": "Approaching the target cube", |
| "start": 0, |
| "end": 30 |
| }, |
| { |
| "label": "Grasping the target cube", |
| "start": 39, |
| "end": 123 |
| }, |
| { |
| "label": "Releasing the cube into the bowl", |
| "start": 174, |
| "end": 216 |
| } |
| ], |
| "duration_s": 7.77 |
| }, |
| { |
| "episode": 45, |
| "intervals": [ |
| { |
| "label": "The arm moves from its starting position and commits to approaching the red cube.", |
| "start": 0, |
| "end": 6 |
| }, |
| { |
| "label": "The gripper approaches, closes on, and lifts the red cube.", |
| "start": 6, |
| "end": 12 |
| }, |
| { |
| "label": "The gripper holds the cube over the bowl and then releases it inside.", |
| "start": 15, |
| "end": 18 |
| } |
| ], |
| "duration_s": 6.03 |
| }, |
| { |
| "episode": 46, |
| "intervals": [ |
| { |
| "label": "Arm moves to position above the blue cube", |
| "start": 0, |
| "end": 75 |
| }, |
| { |
| "label": "Gripper grasps and lifts the blue cube", |
| "start": 135, |
| "end": 174 |
| }, |
| { |
| "label": "Arm releases the blue cube into the bowl", |
| "start": 225, |
| "end": 270 |
| } |
| ], |
| "duration_s": 14.27 |
| }, |
| { |
| "episode": 47, |
| "intervals": [ |
| { |
| "label": "The robot arm moves towards the cubes and commits to picking up the green cube.", |
| "start": 0, |
| "end": 39 |
| }, |
| { |
| "label": "The robot gripper descends, closes, and grips the green cube.", |
| "start": 54, |
| "end": 87 |
| }, |
| { |
| "label": "The robot arm holds the cube over the bowl and releases it.", |
| "start": 126, |
| "end": 162 |
| } |
| ], |
| "duration_s": 7.4 |
| }, |
| { |
| "episode": 48, |
| "intervals": [ |
| { |
| "label": "The arm moves from its initial position to commit to the green cube.", |
| "start": 0, |
| "end": 66 |
| }, |
| { |
| "label": "The gripper approaches, grasps, and lifts the green cube.", |
| "start": 75, |
| "end": 102 |
| }, |
| { |
| "label": "The gripper positions the cube over the bowl and releases it.", |
| "start": 168, |
| "end": 183 |
| } |
| ], |
| "duration_s": 7.13 |
| }, |
| { |
| "episode": 49, |
| "intervals": [ |
| { |
| "label": "The gripper moves from its starting position to commit to the blue cube.", |
| "start": 0, |
| "end": 9 |
| }, |
| { |
| "label": "The gripper approaches, closes on, and lifts the blue cube.", |
| "start": 9, |
| "end": 15 |
| }, |
| { |
| "label": "The gripper releases the blue cube into the bowl.", |
| "start": 18, |
| "end": 21 |
| } |
| ], |
| "duration_s": 7.93 |
| } |
| ] |
