[
 {
  "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
 }
]