[
 {
  "episode": 0,
  "sample": 0,
  "intervals": [
   {
    "label": "Move gripper to approach the red cube",
    "start": 0,
    "end": 135
   },
   {
    "label": "Grasp the red cube",
    "start": 150,
    "end": 195
   },
   {
    "label": "Release the red cube into the bowl",
    "start": 240,
    "end": 276
   }
  ],
  "duration_s": 9.13
 },
 {
  "episode": 0,
  "sample": 1,
  "intervals": [
   {
    "label": "Arm moves from start and commits to the red cube",
    "start": 0,
    "end": 144
   },
   {
    "label": "Gripper grasps the red cube",
    "start": 156,
    "end": 186
   },
   {
    "label": "Arm releases the red cube into the bowl",
    "start": 210,
    "end": 237
   }
  ],
  "duration_s": 9.13
 },
 {
  "episode": 0,
  "sample": 2,
  "intervals": [
   {
    "label": "The arm moves from its starting position and commits to grabbing the red cube.",
    "start": 0,
    "end": 15
   },
   {
    "label": "The gripper approaches, closes on, and lifts the red cube off the table.",
    "start": 18,
    "end": 24
   },
   {
    "label": "The gripper holds the red cube over the bowl, then releases it to fall inside.",
    "start": 54,
    "end": 69
   }
  ],
  "duration_s": 9.13
 },
 {
  "episode": 1,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm moves towards the green cube",
    "start": 0,
    "end": 54
   },
   {
    "label": "Gripper grasps the green cube",
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    "end": 87
   },
   {
    "label": "Gripper releases the cube into the bowl",
    "start": 165,
    "end": 186
   }
  ],
  "duration_s": 6.83
 },
 {
  "episode": 1,
  "sample": 1,
  "intervals": [
   {
    "label": "The arm descends and commits to the green cube.",
    "start": 0,
    "end": 36
   },
   {
    "label": "The gripper approaches, closes on, and lifts the green cube.",
    "start": 54,
    "end": 78
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest.",
    "start": 147,
    "end": 183
   }
  ],
  "duration_s": 6.83
 },
 {
  "episode": 1,
  "sample": 2,
  "intervals": [
   {
    "label": "The robot arm moves towards the green cube.",
    "start": 0,
    "end": 54
   },
   {
    "label": "The gripper grabs the green cube.",
    "start": 60,
    "end": 81
   },
   {
    "label": "The robot arm drops the cube into the bowl.",
    "start": 150,
    "end": 174
   }
  ],
  "duration_s": 6.83
 },
 {
  "episode": 2,
  "sample": 0,
  "intervals": [
   {
    "label": "The robot arm moves towards the blue cube.",
    "start": 0,
    "end": 54
   },
   {
    "label": "The robot arm grips the blue cube.",
    "start": 90,
    "end": 135
   },
   {
    "label": "The robot arm drops the blue cube into the bowl.",
    "start": 186,
    "end": 216
   }
  ],
  "duration_s": 8.37
 },
 {
  "episode": 2,
  "sample": 1,
  "intervals": [
   {
    "label": "Arm moves towards the cubes and commits to the blue cube.",
    "start": 0,
    "end": 27
   },
   {
    "label": "Gripper approaches, grasps, and lifts the blue cube.",
    "start": 114,
    "end": 147
   },
   {
    "label": "Gripper releases the cube into the bowl.",
    "start": 204,
    "end": 231
   }
  ],
  "duration_s": 8.37
 },
 {
  "episode": 2,
  "sample": 2,
  "intervals": [
   {
    "label": "Gripper approaches the blue cube",
    "start": 0,
    "end": 84
   },
   {
    "label": "Gripper grasps and lifts the blue cube",
    "start": 105,
    "end": 144
   },
   {
    "label": "Gripper releases the cube into the bowl",
    "start": 195,
    "end": 219
   }
  ],
  "duration_s": 8.37
 },
 {
  "episode": 3,
  "sample": 0,
  "intervals": [
   {
    "label": "The robot arm moves towards the green cube.",
    "start": 0,
    "end": 39
   },
   {
    "label": "The robot arm grasps the green cube.",
    "start": 45,
    "end": 78
   },
   {
    "label": "The robot arm releases the green cube into the bowl.",
    "start": 150,
    "end": 195
   }
  ],
  "duration_s": 6.97
 },
 {
  "episode": 3,
  "sample": 1,
  "intervals": [
   {
    "label": "The robot arm moves towards and commits to the green cube.",
    "start": 0,
    "end": 63
   },
   {
    "label": "The gripper closes on and lifts the green cube.",
    "start": 87,
    "end": 111
   },
   {
    "label": "The gripper releases the cube into the bowl.",
    "start": 168,
    "end": 204
   }
  ],
  "duration_s": 6.97
 },
 {
  "episode": 3,
  "sample": 2,
  "intervals": [
   {
    "label": "The arm moves from its starting position to commit to the green cube.",
    "start": 0,
    "end": 60
   },
   {
    "label": "The gripper descends, closes around, and lifts the green cube.",
    "start": 75,
    "end": 120
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest.",
    "start": 165,
    "end": 201
   }
  ],
  "duration_s": 6.97
 },
 {
  "episode": 4,
  "sample": 0,
  "intervals": [
   {
    "label": "Move to a cube",
    "start": 0,
    "end": 6
   },
   {
    "label": "Grasp the cube",
    "start": 9,
    "end": 12
   },
   {
    "label": "Place the cube",
    "start": 18,
    "end": 24
   }
  ],
  "duration_s": 6.43
 },
 {
  "episode": 4,
  "sample": 1,
  "intervals": [
   {
    "label": "The arm moves from its starting position towards the green cube.",
    "start": 0,
    "end": 45
   },
   {
    "label": "The gripper approaches, closes on, and lifts the green cube.",
    "start": 66,
    "end": 93
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube settles inside.",
    "start": 132,
    "end": 162
   }
  ],
  "duration_s": 6.43
 },
 {
  "episode": 4,
  "sample": 2,
  "intervals": [
   {
    "label": "Gripper commits to a cube",
    "start": 0,
    "end": 9
   },
   {
    "label": "Gripper grabs the cube",
    "start": 12,
    "end": 21
   },
   {
    "label": "Gripper releases the cube into the bowl",
    "start": 36,
    "end": 48
   }
  ],
  "duration_s": 6.43
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 {
  "episode": 5,
  "sample": 0,
  "intervals": [
   {
    "label": "The arm moves from its starting position to commit to the green cube.",
    "start": 0,
    "end": 90
   },
   {
    "label": "The gripper approaches, closes around, and lifts the green cube.",
    "start": 135,
    "end": 174
   },
   {
    "label": "The gripper positions the cube over the bowl and releases it.",
    "start": 234,
    "end": 252
   }
  ],
  "duration_s": 9.33
 },
 {
  "episode": 5,
  "sample": 1,
  "intervals": [
   {
    "label": "Robot arm moving toward the green cube.",
    "start": 0,
    "end": 105
   },
   {
    "label": "Robot gripper closing on the green cube.",
    "start": 150,
    "end": 180
   },
   {
    "label": "Robot releasing the green cube into the bowl.",
    "start": 246,
    "end": 264
   }
  ],
  "duration_s": 9.33
 },
 {
  "episode": 5,
  "sample": 2,
  "intervals": [
   {
    "label": "The arm moves from its starting position and commits to approaching the green cube.",
    "start": 0,
    "end": 12
   },
   {
    "label": "The gripper positions itself, closes, and lifts the green cube.",
    "start": 15,
    "end": 21
   },
   {
    "label": "The gripper is positioned over the bowl and releases the cube, which comes to rest inside.",
    "start": 27,
    "end": 33
   }
  ],
  "duration_s": 9.33
 },
 {
  "episode": 6,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm moves to green cube",
    "start": 0,
    "end": 15
   },
   {
    "label": "Gripper grasps green cube",
    "start": 18,
    "end": 24
   },
   {
    "label": "Arm drops cube in bowl",
    "start": 27,
    "end": 30
   }
  ],
  "duration_s": 10.3
 },
 {
  "episode": 6,
  "sample": 1,
  "intervals": [
   {
    "label": "The arm commits to moving toward the green cube.",
    "start": 0,
    "end": 147
   },
   {
    "label": "The gripper grabs the green cube.",
    "start": 156,
    "end": 204
   },
   {
    "label": "The gripper releases the cube into the bowl.",
    "start": 264,
    "end": 291
   }
  ],
  "duration_s": 10.3
 },
 {
  "episode": 6,
  "sample": 2,
  "intervals": [
   {
    "label": "Arm moves toward the green cube",
    "start": 0,
    "end": 120
   },
   {
    "label": "Gripper grabs the green cube",
    "start": 144,
    "end": 195
   },
   {
    "label": "Gripper places the cube in the bowl",
    "start": 255,
    "end": 285
   }
  ],
  "duration_s": 10.3
 },
 {
  "episode": 7,
  "sample": 0,
  "intervals": [
   {
    "label": "The arm moves from its starting position and commits to grabbing the red cube.",
    "start": 0,
    "end": 105
   },
   {
    "label": "The gripper approaches, closes on, and lifts the red cube.",
    "start": 120,
    "end": 159
   },
   {
    "label": "The gripper positions the cube over the bowl and releases it.",
    "start": 210,
    "end": 249
   }
  ],
  "duration_s": 8.6
 },
 {
  "episode": 7,
  "sample": 1,
  "intervals": [
   {
    "label": "Arm moves to red cube",
    "start": 0,
    "end": 9
   },
   {
    "label": "Gripper grasps red cube",
    "start": 12,
    "end": 18
   },
   {
    "label": "Gripper drops cube in bowl",
    "start": 21,
    "end": 27
   }
  ],
  "duration_s": 8.6
 },
 {
  "episode": 7,
  "sample": 2,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 12
   },
   {
    "label": "Grasping the target cube",
    "start": 12,
    "end": 18
   },
   {
    "label": "Placing the cube in the bowl",
    "start": 21,
    "end": 27
   }
  ],
  "duration_s": 8.6
 },
 {
  "episode": 8,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm commits to moving towards the red cube",
    "start": 0,
    "end": 66
   },
   {
    "label": "Gripper grasps and lifts the red cube",
    "start": 90,
    "end": 162
   },
   {
    "label": "Arm moves the cube over the bowl",
    "start": 177,
    "end": 201
   }
  ],
  "duration_s": 6.9
 },
 {
  "episode": 8,
  "sample": 1,
  "intervals": [
   {
    "label": "The robot arm moves towards the red cube, committing to its target.",
    "start": 0,
    "end": 69
   },
   {
    "label": "The gripper closes around the red cube and lifts it off the table.",
    "start": 87,
    "end": 111
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to a rest.",
    "start": 153,
    "end": 186
   }
  ],
  "duration_s": 6.9
 },
 {
  "episode": 8,
  "sample": 2,
  "intervals": [
   {
    "label": "Arm approaches the red cube.",
    "start": 0,
    "end": 60
   },
   {
    "label": "Gripper grasps the red cube.",
    "start": 75,
    "end": 111
   },
   {
    "label": "Gripper drops the cube into the bowl.",
    "start": 150,
    "end": 180
   }
  ],
  "duration_s": 6.9
 },
 {
  "episode": 9,
  "sample": 0,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 63
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   {
    "label": "Grasping the target cube",
    "start": 90,
    "end": 141
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 174,
    "end": 195
   }
  ],
  "duration_s": 6.63
 },
 {
  "episode": 9,
  "sample": 1,
  "intervals": [
   {
    "label": "Arm moves from its starting position towards the blue cube.",
    "start": 0,
    "end": 90
   },
   {
    "label": "The gripper approaches, grabs and lifts the blue cube.",
    "start": 105,
    "end": 150
   },
   {
    "label": "The gripper drops the blue cube into the white bowl.",
    "start": 174,
    "end": 201
   }
  ],
  "duration_s": 6.63
 },
 {
  "episode": 9,
  "sample": 2,
  "intervals": [
   {
    "label": "Arm commits to approaching one cube",
    "start": 0,
    "end": 75
   },
   {
    "label": "Gripper grasps the target cube",
    "start": 90,
    "end": 135
   },
   {
    "label": "Gripper releases the cube into the bowl",
    "start": 165,
    "end": 186
   }
  ],
  "duration_s": 6.63
 },
 {
  "episode": 10,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm moves towards the target cube",
    "start": 0,
    "end": 114
   },
   {
    "label": "Gripper grasps the cube",
    "start": 126,
    "end": 180
   },
   {
    "label": "Gripper releases the cube into the bowl",
    "start": 300,
    "end": 357
   }
  ],
  "duration_s": 12.43
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 {
  "episode": 10,
  "sample": 1,
  "intervals": [
   {
    "label": "The robot arm moves towards the red cube.",
    "start": 0,
    "end": 114
   },
   {
    "label": "The robot arm grasps the red cube.",
    "start": 123,
    "end": 171
   },
   {
    "label": "The robot arm drops the red cube into the bowl.",
    "start": 300,
    "end": 342
   }
  ],
  "duration_s": 12.43
 },
 {
  "episode": 10,
  "sample": 2,
  "intervals": [
   {
    "label": "Committing to a target cube",
    "start": 0,
    "end": 84
   },
   {
    "label": "Gripping the target cube",
    "start": 135,
    "end": 180
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 315,
    "end": 354
   }
  ],
  "duration_s": 12.43
 },
 {
  "episode": 11,
  "sample": 0,
  "intervals": [
   {
    "label": "The arm moves toward the red cube.",
    "start": 0,
    "end": 75
   },
   {
    "label": "The gripper grasps the red cube.",
    "start": 78,
    "end": 114
   },
   {
    "label": "The gripper releases the cube into the bowl.",
    "start": 165,
    "end": 219
   }
  ],
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 {
  "episode": 11,
  "sample": 1,
  "intervals": [
   {
    "label": "The robot arm moves from its initial position towards the red cube.",
    "start": 0,
    "end": 75
   },
   {
    "label": "The robot gripper closes around the red cube and picks it up.",
    "start": 87,
    "end": 117
   },
   {
    "label": "The robot arm drops the red cube into the white bowl.",
    "start": 180,
    "end": 207
   }
  ],
  "duration_s": 7.47
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 {
  "episode": 11,
  "sample": 2,
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   {
    "label": "The gripper moves towards and commits to the red cube.",
    "start": 0,
    "end": 84
   },
   {
    "label": "The gripper closes on and lifts the red cube.",
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    "end": 123
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest.",
    "start": 171,
    "end": 210
   }
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 },
 {
  "episode": 12,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm moves towards a cube",
    "start": 0,
    "end": 60
   },
   {
    "label": "Gripper grabs the cube",
    "start": 105,
    "end": 144
   },
   {
    "label": "Gripper drops cube into bowl",
    "start": 189,
    "end": 240
   }
  ],
  "duration_s": 8.6
 },
 {
  "episode": 12,
  "sample": 1,
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   {
    "label": "The arm moves toward the blue cube.",
    "start": 0,
    "end": 105
   },
   {
    "label": "The gripper grasps the blue cube.",
    "start": 126,
    "end": 150
   },
   {
    "label": "The gripper drops the blue cube into the bowl.",
    "start": 195,
    "end": 219
   }
  ],
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 {
  "episode": 12,
  "sample": 2,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 63
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   {
    "label": "Grasping the cube",
    "start": 99,
    "end": 147
   },
   {
    "label": "Placing the cube in the bowl",
    "start": 192,
    "end": 234
   }
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 {
  "episode": 13,
  "sample": 0,
  "intervals": [
   {
    "label": "The arm moves toward the red cube after initially considering the green one.",
    "start": 0,
    "end": 75
   },
   {
    "label": "The gripper approaches, grasps, and lifts the red cube.",
    "start": 150,
    "end": 195
   },
   {
    "label": "The gripper lowers the cube into the bowl and releases it.",
    "start": 315,
    "end": 348
   }
  ],
  "duration_s": 12.87
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 {
  "episode": 13,
  "sample": 1,
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   {
    "label": "The arm moves from its initial position and commits to the red cube.",
    "start": 0,
    "end": 90
   },
   {
    "label": "The gripper approaches, closes on, and lifts the red cube.",
    "start": 150,
    "end": 195
   },
   {
    "label": "The gripper holds the cube above the bowl and then releases it.",
    "start": 315,
    "end": 354
   }
  ],
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 {
  "episode": 13,
  "sample": 2,
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   {
    "label": "The arm commits to moving toward the red cube",
    "start": 0,
    "end": 75
   },
   {
    "label": "The gripper closes on and lifts the red cube",
    "start": 144,
    "end": 198
   },
   {
    "label": "The gripper releases the red cube into the bowl",
    "start": 315,
    "end": 372
   }
  ],
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 },
 {
  "episode": 14,
  "sample": 0,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 30
   },
   {
    "label": "Grasping the target cube",
    "start": 54,
    "end": 75
   },
   {
    "label": "Releasing the cube into the bowl",
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    "end": 135
   }
  ],
  "duration_s": 5.4
 },
 {
  "episode": 14,
  "sample": 1,
  "intervals": [
   {
    "label": "The robot arm moves towards the blue cube.",
    "start": 0,
    "end": 30
   },
   {
    "label": "The robot arm grips and lifts the blue cube.",
    "start": 54,
    "end": 87
   },
   {
    "label": "The robot arm drops the cube into the bowl.",
    "start": 123,
    "end": 144
   }
  ],
  "duration_s": 5.4
 },
 {
  "episode": 14,
  "sample": 2,
  "intervals": [
   {
    "label": "Robot arm approaches the blue cube.",
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    "end": 39
   },
   {
    "label": "Robot gripper grasps the blue cube.",
    "start": 51,
    "end": 75
   },
   {
    "label": "Robot gripper releases the cube into the bowl.",
    "start": 114,
    "end": 138
   }
  ],
  "duration_s": 5.4
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 {
  "episode": 15,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm commits to a target cube",
    "start": 0,
    "end": 24
   },
   {
    "label": "Gripper grabs the cube",
    "start": 45,
    "end": 96
   },
   {
    "label": "Cube is released into the bowl",
    "start": 144,
    "end": 165
   }
  ],
  "duration_s": 6.37
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 {
  "episode": 15,
  "sample": 1,
  "intervals": [
   {
    "label": "The arm approaches the target cube",
    "start": 42,
    "end": 54
   },
   {
    "label": "The gripper grasps the cube",
    "start": 66,
    "end": 90
   },
   {
    "label": "The cube is released into the bowl",
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    "end": 168
   }
  ],
  "duration_s": 6.37
 },
 {
  "episode": 15,
  "sample": 2,
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   {
    "label": "The arm moves toward the green cube.",
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    "end": 9
   },
   {
    "label": "The gripper grabs the green cube.",
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    "end": 15
   },
   {
    "label": "The gripper drops the green cube into the bowl.",
    "start": 51,
    "end": 69
   }
  ],
  "duration_s": 6.37
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 {
  "episode": 16,
  "sample": 0,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 30
   },
   {
    "label": "Grasping the target cube",
    "start": 66,
    "end": 96
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 180,
    "end": 210
   }
  ],
  "duration_s": 8.0
 },
 {
  "episode": 16,
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   {
    "label": "Robot arm approaches the red cube.",
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    "end": 42
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   {
    "label": "Robot arm grasps the red cube.",
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    "end": 105
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   {
    "label": "Robot arm releases the red cube into the bowl.",
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    "end": 210
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   {
    "label": "Arm approaches the target cube",
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    "label": "Gripper grasps the cube",
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    "end": 78
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    "label": "Cube is released into the bowl",
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    "end": 210
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   {
    "label": "The arm moves from its starting position and commits to the red cube.",
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    "label": "The gripper approaches, closes on, and lifts the red cube.",
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    "end": 120
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   {
    "label": "The gripper releases the cube into the bowl and the cube comes to rest.",
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   {
    "label": "Arm moves towards the red cube",
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    "label": "Gripper grabs the red cube",
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    "end": 48
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   {
    "label": "Gripper drops the cube into the bowl",
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    "end": 81
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   {
    "label": "Arm approaches the red cube",
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    "label": "Gripper grasps the red cube",
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    "end": 120
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   {
    "label": "Gripper releases the cube into the bowl",
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   {
    "label": "The robot arm moves towards the red cube.",
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    "label": "The robot arm grips the red cube and lifts it.",
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    "end": 180
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   {
    "label": "The robot arm releases the cube into the bowl.",
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    "end": 270
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   {
    "label": "The robot arm moves from its initial position and targets the red cube.",
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    "label": "The gripper approaches, grasps, and lifts the red cube from the table.",
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    "end": 162
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   {
    "label": "The arm holds the cube over the bowl and then releases it inside.",
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    "end": 252
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   {
    "label": "Arm commits to a cube",
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    "label": "Gripper grabs the cube",
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    "end": 165
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   {
    "label": "Gripper releases the cube into the bowl",
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    "end": 255
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   {
    "label": "The arm moves from its starting position and commits to grabbing the green cube.",
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   {
    "label": "The gripper approaches, closes around, and lifts the green cube.",
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    "end": 96
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   {
    "label": "The gripper moves over the bowl, releases the cube, and the cube comes to rest inside.",
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    "end": 156
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   {
    "label": "The gripper moves towards the green cube.",
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   {
    "label": "The gripper grabs the green cube.",
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    "end": 105
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   {
    "label": "The gripper releases the cube into the bowl.",
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    "end": 159
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   {
    "label": "Arm moves towards target cube",
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    "label": "Gripper grasps the cube",
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    "end": 114
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   {
    "label": "Gripper releases cube into bowl",
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    "end": 183
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   {
    "label": "The robot arm moves from its starting position and commits to approaching the red cube.",
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    "end": 51
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   {
    "label": "The gripper holds the cube above the bowl, releases it, and the cube settles inside.",
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   {
    "label": "The robot arm moves towards the red cube.",
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    "label": "The gripper grasps the red cube.",
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    "end": 60
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   {
    "label": "The gripper releases the red cube into the bowl.",
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    "end": 195
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   {
    "label": "The gripper approaches the red cube.",
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   {
    "label": "The gripper grabs the red cube.",
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    "end": 78
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   {
    "label": "The gripper drops the red cube in the bowl.",
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    "end": 195
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   {
    "label": "The robot arm moves towards the blue cube.",
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    "end": 27
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   {
    "label": "The gripper grasps and lifts the blue cube.",
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    "end": 51
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   {
    "label": "The gripper releases the blue cube into the bowl.",
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    "end": 111
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    "label": "The robot arm moves towards and commits to the blue cube.",
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   {
    "label": "The gripper approaches, closes on, and lifts the blue cube.",
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    "end": 207
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   {
    "label": "The gripper releases the cube into the bowl.",
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    "end": 324
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    "label": "The robot arm moves towards the blue cube, committing to its target.",
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   {
    "label": "The gripper approaches, closes around, and lifts the blue cube.",
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    "end": 135
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   {
    "label": "The gripper holds the cube over the bowl and then releases it inside.",
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   {
    "label": "The arm moves toward the blue cube.",
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   {
    "label": "The gripper grips the blue cube.",
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    "end": 75
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   {
    "label": "The gripper drops the cube in the bowl.",
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    "end": 138
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   {
    "label": "The arm moves toward the blue cube, committing to it.",
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   {
    "label": "The gripper closes and grips the blue cube.",
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    "end": 48
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   {
    "label": "The cube is released into the bowl and comes to rest.",
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    "end": 96
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    "label": "Arm moves toward a cube",
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    "label": "Gripper grasps the cube",
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    "end": 99
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   {
    "label": "Gripper places the cube in the bowl",
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    "end": 180
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    "label": "The robot arm moves from its starting position towards the blue cube.",
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   {
    "label": "The gripper descends, grasps the blue cube, and lifts it off the table.",
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    "end": 123
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   {
    "label": "The robot arm positions the blue cube over the bowl and drops it inside.",
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    "end": 228
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  "episode": 23,
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    "label": "Approaching the blue cube",
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    "label": "Grasping the blue cube",
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    "end": 138
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   {
    "label": "Releasing the cube into the bowl",
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    "end": 270
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  "episode": 23,
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   {
    "label": "Move to blue cube",
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   {
    "label": "Grasp blue cube",
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    "end": 144
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   {
    "label": "Place blue cube in bowl",
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    "end": 240
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   {
    "label": "The arm moves towards the blue cube.",
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   {
    "label": "The arm grabs the blue cube.",
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    "end": 156
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   {
    "label": "The arm places the blue cube in the bowl.",
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    "label": "Approaching a cube",
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    "label": "Grasping the cube",
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   {
    "label": "Dropping the cube in the bowl",
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    "label": "Approaching the blue cube.",
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   {
    "label": "Grasping the blue cube.",
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   {
    "label": "Releasing the cube into the bowl.",
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    "label": "The arm moves toward the red cube.",
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    "label": "The gripper grasps and lifts the red cube.",
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    "end": 120
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   {
    "label": "The gripper releases the red cube into the bowl.",
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    "end": 213
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    "label": "Approaching the target cube",
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   {
    "label": "Placing the cube in the bowl",
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    "label": "Approaching the target cube",
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   {
    "label": "Placing the cube in the bowl",
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    "label": "Arm moves towards the blue cube",
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    "label": "Gripper grabs the blue cube",
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    "end": 144
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   {
    "label": "Gripper drops the blue cube into the bowl",
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    "end": 219
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    "label": "The arm moves from its starting position and commits to approaching the blue cube.",
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    "end": 144
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   {
    "label": "The gripper positions the cube over the bowl, releases it, and the cube comes to rest inside.",
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    "end": 231
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    "label": "The arm moves from its starting position towards the blue cube.",
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   {
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   {
    "label": "The gripper positions the cube over the bowl, releases it, and the cube settles.",
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    "label": "Arm moves toward the target cube",
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   {
    "label": "Gripper drops the cube in the bowl",
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    "label": "The arm moves from its starting position towards the blue cube.",
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    "label": "The arm moves from its starting position to commit to the blue cube.",
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   {
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    "label": "Arm commits to the red cube",
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    "label": "Gripper grabs the red cube",
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   {
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    "label": "The arm approaches the red cube.",
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    "label": "Arm moves toward the red cube",
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   {
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    "label": "Robot arm commits to a cube",
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   {
    "label": "Cube is released into the bowl",
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    "label": "The arm commits to the green cube.",
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    "label": "Approaching the green cube",
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   {
    "label": "Releasing the green cube into the bowl",
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    "label": "The arm approaches the red cube",
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    "label": "The arm releases the red cube into the bowl",
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    "label": "Robot arm commits to the red cube",
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    "label": "Robot arm grips the red cube",
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    "end": 168
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   {
    "label": "Robot arm drops the cube into the bowl",
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  "episode": 30,
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    "label": "The robot arm moves towards the cubes and commits to the red one.",
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    "label": "The gripper approaches, closes, and grips the red cube, lifting it.",
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    "end": 156
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    "label": "The gripper holds the cube over the bowl, releases it, and the cube lands.",
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    "label": "Arm commits to moving towards the blue cube.",
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    "label": "Gripper closes on and picks up the blue cube.",
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    "label": "Gripper releases the blue cube into the bowl.",
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    "label": "The robot arm moves towards the blue cube.",
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    "label": "The robot arm moves from its initial position to commit to grabbing the blue cube.",
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    "label": "The robot arm moves towards the blue cube.",
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    "label": "The robot arm grasps the blue cube.",
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    "label": "The robot arm drops the blue cube into the bowl.",
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    "label": "Approaching the blue cube",
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    "label": "Dropping the cube into the bowl",
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  "duration_s": 10.87
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 {
  "episode": 32,
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   {
    "label": "Approaching the blue cube",
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    "end": 63
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   {
    "label": "Grasping the blue cube",
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    "end": 96
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   {
    "label": "Releasing the cube into the bowl",
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    "end": 165
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  "episode": 33,
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   {
    "label": "Approaching the target cube",
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    "end": 45
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   {
    "label": "Grasping the cube",
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    "end": 84
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   {
    "label": "Releasing the cube into the bowl",
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    "end": 420
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 {
  "episode": 33,
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   {
    "label": "Move arm towards the green cube",
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    "end": 45
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   {
    "label": "Grasp the green cube",
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    "end": 78
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   {
    "label": "Release the green cube into the bowl",
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    "end": 420
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  "episode": 33,
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   {
    "label": "The robot arm commits to a cube.",
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    "end": 60
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   {
    "label": "The robot arm grips the cube.",
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    "end": 93
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   {
    "label": "The robot arm places the cube in the bowl.",
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    "end": 414
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  "episode": 34,
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   {
    "label": "The arm moves from its starting position to commit to the green cube.",
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    "end": 45
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   {
    "label": "The gripper approaches, grasps, and lifts the green cube.",
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    "end": 87
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   {
    "label": "The gripper moves over the bowl and releases the cube into it.",
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    "end": 156
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 {
  "episode": 34,
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   {
    "label": "Approaching the green cube",
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    "end": 30
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   {
    "label": "Gripping the green cube",
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    "end": 84
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   {
    "label": "Releasing the cube into the bowl",
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    "end": 162
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  "episode": 34,
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   {
    "label": "The arm approaches the green cube, committing to it over the others.",
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    "label": "The gripper closes around the green cube and lifts it off the table.",
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    "end": 81
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   {
    "label": "The gripper releases the cube, dropping it into the bowl.",
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    "end": 156
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  "episode": 35,
  "sample": 0,
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   {
    "label": "The robot arm moves towards the blue cube.",
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    "end": 30
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   {
    "label": "The robot arm grips the blue cube.",
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    "end": 93
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   {
    "label": "The robot arm drops the blue cube in the bowl.",
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    "end": 216
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 {
  "episode": 35,
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   {
    "label": "The robot arm moves towards the blue cube.",
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    "end": 90
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   {
    "label": "The robot arm grips the blue cube.",
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    "end": 210
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   {
    "label": "The robot arm drops the blue cube into the white bowl.",
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    "end": 324
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  "episode": 35,
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   {
    "label": "The arm moves from its starting position to approach the blue cube.",
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    "end": 45
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   {
    "label": "The gripper descends, closes around, and lifts the blue cube.",
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    "end": 81
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   {
    "label": "The gripper releases the blue cube, which falls and settles in the bowl.",
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    "end": 144
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  "episode": 36,
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   {
    "label": "The arm approaches the blue cube.",
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   {
    "label": "The gripper grasps the blue cube.",
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    "end": 117
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   {
    "label": "The gripper releases the blue cube into the bowl.",
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    "end": 234
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 {
  "episode": 36,
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   {
    "label": "Arm moves to and commits to a cube",
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   {
    "label": "Gripper closes on and lifts the cube",
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    "end": 114
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   {
    "label": "Cube is dropped and settles in the bowl",
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    "end": 234
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 {
  "episode": 36,
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   {
    "label": "The arm moves from its starting position to commit to the blue cube.",
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    "end": 60
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   {
    "label": "The gripper approaches, grabs, and lifts the blue cube.",
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    "end": 126
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   {
    "label": "The gripper releases the blue cube into the bowl.",
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    "end": 231
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  "episode": 37,
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   {
    "label": "The very beginning of the video, before the arm has moved toward any cube.",
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    "label": "The gripper has not yet grabbed the target cube, and its tip is about 5 cm away from it.",
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    "end": 15
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   {
    "label": "The gripper is holding the cube directly above the bowl opening, about to lower or release it.",
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    "end": 27
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  "duration_s": 9.0
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  "episode": 37,
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   {
    "label": "Arm moves towards red cube",
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   {
    "label": "Gripper grabs red cube",
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    "end": 15
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   {
    "label": "Gripper releases cube into bowl",
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    "end": 27
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  "episode": 37,
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   {
    "label": "The arm moves from its starting position towards the red cube.",
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    "end": 60
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   {
    "label": "The gripper approaches, grasps, and lifts the red cube.",
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    "end": 126
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   {
    "label": "The gripper lowers the cube into the bowl and releases it.",
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    "end": 243
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  "episode": 38,
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   {
    "label": "The arm moves from its starting position and commits to picking up the green cube.",
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    "label": "The gripper descends, closes around the green cube, and lifts it off the table.",
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    "end": 192
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   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube settles inside.",
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    "end": 300
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   {
    "label": "The robot arm moves toward the green cube.",
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   {
    "label": "The gripper closes around the green cube and lifts it.",
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    "end": 168
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   {
    "label": "The robot arm releases the green cube into the bowl.",
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    "end": 297
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  "episode": 38,
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   {
    "label": "The robot arm moves towards the green cube.",
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   {
    "label": "The robot arm grabs the green cube.",
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    "end": 195
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   {
    "label": "The robot arm releases the green cube into the bowl.",
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    "end": 300
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  "episode": 39,
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   {
    "label": "Robot arm commits to grasping the green cube",
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    "label": "Robot arm grasps and lifts the green cube",
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    "end": 111
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   {
    "label": "Robot arm places the green cube in the bowl",
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  "episode": 39,
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   {
    "label": "Robot arm deciding which cube to pick up.",
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   {
    "label": "Gripper grabbing the green cube.",
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    "end": 93
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   {
    "label": "Gripper releasing the cube into the bowl.",
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    "end": 165
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  "episode": 39,
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   {
    "label": "The robot arm moves towards the green cube.",
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    "label": "The gripper grasps the green cube.",
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    "end": 93
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   {
    "label": "The gripper releases the green cube into the bowl.",
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    "end": 171
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  "episode": 40,
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   {
    "label": "Approaching the red cube",
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    "label": "Grasping the red cube",
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   {
    "label": "Dropping the cube into the bowl",
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  "episode": 40,
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   {
    "label": "Arm moves to and commits to the red cube",
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    "label": "Gripper closes on and lifts the red cube",
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    "end": 114
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   {
    "label": "Arm drops the red cube into the bowl",
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    "end": 204
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  "episode": 40,
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   {
    "label": "The gripper commits to a cube",
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    "label": "The gripper grabs the cube",
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    "end": 90
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   {
    "label": "The gripper releases the cube into the bowl",
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  "episode": 41,
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   {
    "label": "Move arm to blue cube",
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   {
    "label": "Grasp blue cube",
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   {
    "label": "Release blue cube in bowl",
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  "episode": 41,
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    "label": "approaching the blue cube",
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    "label": "grasping the blue cube",
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   {
    "label": "placing the blue cube in the bowl",
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  "episode": 41,
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   {
    "label": "The robot arm moves towards the blue cube.",
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   {
    "label": "The gripper grabs the blue cube.",
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    "end": 45
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   {
    "label": "The gripper releases the blue cube into the bowl.",
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    "end": 318
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    "label": "Arm moves towards the red cube",
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    "label": "Gripper grasps the red cube",
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   {
    "label": "Gripper releases the cube into the bowl",
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    "end": 30
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    "label": "The robot arm moves from its starting position to commit to grabbing the red cube.",
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   {
    "label": "The gripper approaches, closes around, and lifts the red cube off the table.",
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    "end": 147
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   {
    "label": "The gripper lowers the cube over the bowl, releases it, and the cube comes to rest.",
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  "episode": 42,
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    "label": "Arm approaches the red cube.",
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    "label": "Gripper grasps the red cube.",
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   {
    "label": "Gripper releases the red cube into the bowl.",
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    "end": 255
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    "label": "Robot arm approaches the target cube.",
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    "label": "Gripper grasps the target cube.",
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    "end": 105
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   {
    "label": "Robot arm releases the cube into the bowl.",
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    "end": 204
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  "episode": 43,
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    "label": "The very beginning of the video, before the arm has moved toward any cube.",
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   {
    "label": "The gripper is holding the cube directly above the bowl opening, about to lower or release it.",
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    "end": 189
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  "episode": 43,
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    "label": "The arm moves to commit to a cube.",
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    "label": "The gripper approaches and grabs the cube.",
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    "label": "The gripper releases the cube into the bowl.",
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    "label": "Approaching the target cube",
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    "label": "Releasing the cube into the bowl",
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    "label": "The arm moves towards the blue cube.",
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   {
    "label": "The gripper grabs the blue cube.",
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    "end": 135
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   {
    "label": "The gripper drops the blue cube in the bowl.",
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    "end": 225
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  "episode": 44,
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    "label": "Robot arm approaches the blue cube.",
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    "label": "Gripper grasps the blue cube.",
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    "end": 150
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   {
    "label": "Gripper releases the cube into the bowl.",
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    "end": 270
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    "label": "The arm moves from its starting position and commits to approaching the green cube.",
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    "end": 156
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   {
    "label": "The gripper positions the cube over the bowl and releases it.",
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    "end": 258
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  "episode": 45,
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    "label": "The robot arm moves to commit to a cube.",
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    "label": "The robot arm moves to grasp the cube.",
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    "end": 117
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    "label": "The robot arm releases the cube in the bowl.",
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    "end": 240
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    "label": "The very beginning of the video, before the arm has moved toward any cube.",
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    "end": 255
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    "label": "Robot arm commits to a target cube",
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    "label": "Gripper approaches, closes, and grasps the target cube",
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    "end": 120
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    "label": "Gripper releases the cube into the bowl",
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    "end": 225
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 {
  "episode": 46,
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    "label": "Approaching the blue cube",
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    "label": "Grasping the blue cube",
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    "end": 120
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   {
    "label": "Dropping the blue cube into the bowl",
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  "episode": 46,
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    "label": "Arm moves towards a cube",
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    "label": "Gripper grasps the cube",
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    "end": 108
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   {
    "label": "Gripper drops the cube into the bowl",
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  "episode": 47,
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    "label": "The arm moves toward the blue cube.",
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    "label": "The gripper closes on and picks up the blue cube.",
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    "end": 126
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   {
    "label": "The gripper releases the blue cube into the bowl.",
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    "end": 234
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  "episode": 47,
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    "label": "Arm moves to position above the target cube.",
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    "end": 42
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    "label": "Gripper descends, closes on, and lifts the cube.",
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    "end": 114
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   {
    "label": "Arm positions cube over bowl and releases it.",
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    "end": 216
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  "episode": 47,
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    "label": "The arm approaches the blue cube.",
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    "label": "The gripper grasps the blue cube.",
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    "end": 117
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   {
    "label": "The gripper places the blue cube into the bowl.",
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  "episode": 48,
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    "label": "Robot selects and approaches red cube",
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    "label": "Robot grips and lifts red cube",
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    "end": 195
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   {
    "label": "Robot drops red cube into bowl",
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  "episode": 48,
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    "label": "The robot arm moves from its starting position and commits to picking up the red cube.",
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    "end": 84
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    "label": "The gripper approaches, closes on, and lifts the red cube off the table.",
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    "end": 228
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   {
    "label": "The gripper moves the cube over the bowl and releases it inside.",
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  "episode": 48,
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    "label": "Arm approaches the red cube.",
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    "label": "Gripper grasps the red cube.",
    "start": 90,
    "end": 153
   },
   {
    "label": "Arm releases the cube into the bowl.",
    "start": 264,
    "end": 294
   }
  ],
  "duration_s": 11.4
 },
 {
  "episode": 49,
  "sample": 0,
  "intervals": [
   {
    "label": "Robot arm approaches the target cube.",
    "start": 0,
    "end": 39
   },
   {
    "label": "Robot arm grasps the target cube.",
    "start": 54,
    "end": 114
   },
   {
    "label": "Robot arm releases the cube into the bowl.",
    "start": 150,
    "end": 168
   }
  ],
  "duration_s": 6.4
 },
 {
  "episode": 49,
  "sample": 1,
  "intervals": [
   {
    "label": "Robot arm commits to a cube",
    "start": 0,
    "end": 33
   },
   {
    "label": "Gripper grabs the target cube",
    "start": 54,
    "end": 102
   },
   {
    "label": "Robot arm releases cube into the bowl",
    "start": 135,
    "end": 162
   }
  ],
  "duration_s": 6.4
 },
 {
  "episode": 49,
  "sample": 2,
  "intervals": [
   {
    "label": "The robot arm moves towards the cubes and commits to the red cube.",
    "start": 0,
    "end": 30
   },
   {
    "label": "The gripper lowers to the red cube, closes, and lifts it off the table.",
    "start": 45,
    "end": 84
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest.",
    "start": 114,
    "end": 135
   }
  ],
  "duration_s": 6.4
 },
 {
  "episode": 50,
  "sample": 0,
  "intervals": [
   {
    "label": "The arm moves from its starting position to commit to the green cube.",
    "start": 0,
    "end": 24
   },
   {
    "label": "The gripper lowers, closes around, and lifts the green cube.",
    "start": 39,
    "end": 66
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and stops moving.",
    "start": 102,
    "end": 138
   }
  ],
  "duration_s": 8.1
 },
 {
  "episode": 50,
  "sample": 1,
  "intervals": [
   {
    "label": "Robot arm moves towards the green cube",
    "start": 0,
    "end": 75
   },
   {
    "label": "Robot gripper closes on and lifts the green cube",
    "start": 90,
    "end": 138
   },
   {
    "label": "Robot gripper drops the green cube into the bowl",
    "start": 192,
    "end": 222
   }
  ],
  "duration_s": 8.1
 },
 {
  "episode": 50,
  "sample": 2,
  "intervals": [
   {
    "label": "Robot arm moving towards the green cube.",
    "start": 0,
    "end": 57
   },
   {
    "label": "Gripper grabbing the green cube.",
    "start": 87,
    "end": 123
   },
   {
    "label": "Gripper releasing the cube into the bowl.",
    "start": 186,
    "end": 210
   }
  ],
  "duration_s": 8.1
 },
 {
  "episode": 51,
  "sample": 0,
  "intervals": [
   {
    "label": "The robot arm moves towards the blue cube, committing to it.",
    "start": 0,
    "end": 45
   },
   {
    "label": "The gripper approaches, closes on, and lifts the blue cube.",
    "start": 66,
    "end": 108
   },
   {
    "label": "The gripper holds the cube over the bowl, then releases it inside.",
    "start": 153,
    "end": 186
   }
  ],
  "duration_s": 7.73
 },
 {
  "episode": 51,
  "sample": 1,
  "intervals": [
   {
    "label": "The gripper has clearly committed to one cube",
    "start": 0,
    "end": 36
   },
   {
    "label": "The gripper closes and grips the target cube",
    "start": 60,
    "end": 96
   },
   {
    "label": "The cube is released and comes to rest in the bowl",
    "start": 177,
    "end": 213
   }
  ],
  "duration_s": 7.73
 },
 {
  "episode": 51,
  "sample": 2,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 75
   },
   {
    "label": "Gripping the target cube",
    "start": 114,
    "end": 156
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 204,
    "end": 225
   }
  ],
  "duration_s": 7.73
 },
 {
  "episode": 52,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm moves toward a cube",
    "start": 0,
    "end": 69
   },
   {
    "label": "Gripper grabs the target cube",
    "start": 84,
    "end": 120
   },
   {
    "label": "Cube is released into the bowl",
    "start": 165,
    "end": 183
   }
  ],
  "duration_s": 7.33
 },
 {
  "episode": 52,
  "sample": 1,
  "intervals": [
   {
    "label": "The robot arm moves from its starting position to commit to grabbing the green cube.",
    "start": 0,
    "end": 84
   },
   {
    "label": "The robot gripper approaches, closes around, and lifts the green cube off the table.",
    "start": 96,
    "end": 123
   },
   {
    "label": "The robot arm holds the cube over the bowl, releases it, and retracts to a stop.",
    "start": 171,
    "end": 204
   }
  ],
  "duration_s": 7.33
 },
 {
  "episode": 52,
  "sample": 2,
  "intervals": [
   {
    "label": "Approaching a cube",
    "start": 0,
    "end": 6
   },
   {
    "label": "Grasping the cube",
    "start": 9,
    "end": 15
   },
   {
    "label": "Placing the cube in the bowl",
    "start": 18,
    "end": 24
   }
  ],
  "duration_s": 7.33
 },
 {
  "episode": 53,
  "sample": 0,
  "intervals": [
   {
    "label": "The robot arm moves towards the red cube.",
    "start": 0,
    "end": 42
   },
   {
    "label": "The robot arm is just about to grab the red cube.",
    "start": 57,
    "end": 96
   },
   {
    "label": "The robot arm drops the red cube into the container.",
    "start": 132,
    "end": 159
   }
  ],
  "duration_s": 6.43
 },
 {
  "episode": 53,
  "sample": 1,
  "intervals": [
   {
    "label": "Arm moves towards the red cube",
    "start": 3,
    "end": 9
   },
   {
    "label": "Gripper closes on and lifts the red cube",
    "start": 9,
    "end": 18
   },
   {
    "label": "Gripper releases the cube into the bowl",
    "start": 24,
    "end": 36
   }
  ],
  "duration_s": 6.43
 },
 {
  "episode": 53,
  "sample": 2,
  "intervals": [
   {
    "label": "The robot arm moves from its initial position to commit to the red cube.",
    "start": 0,
    "end": 60
   },
   {
    "label": "The gripper descends, closes around, and lifts the red cube.",
    "start": 84,
    "end": 105
   },
   {
    "label": "The gripper holds the cube over the bowl and then releases it inside.",
    "start": 135,
    "end": 156
   }
  ],
  "duration_s": 6.43
 },
 {
  "episode": 54,
  "sample": 0,
  "intervals": [
   {
    "label": "The gripper commits to grabbing the green cube.",
    "start": 0,
    "end": 45
   },
   {
    "label": "The gripper closes and grasps the green cube.",
    "start": 114,
    "end": 150
   },
   {
    "label": "The gripper releases the cube, which lands and settles in the bowl.",
    "start": 204,
    "end": 255
   }
  ],
  "duration_s": 10.8
 },
 {
  "episode": 54,
  "sample": 1,
  "intervals": [
   {
    "label": "The arm approaches the target cube.",
    "start": 0,
    "end": 45
   },
   {
    "label": "The gripper grasps the target cube.",
    "start": 105,
    "end": 168
   },
   {
    "label": "The gripper releases the cube into the bowl.",
    "start": 210,
    "end": 249
   }
  ],
  "duration_s": 10.8
 },
 {
  "episode": 54,
  "sample": 2,
  "intervals": [
   {
    "label": "The arm moves from its starting position towards the group of cubes before singling out the green cube.",
    "start": 0,
    "end": 60
   },
   {
    "label": "The gripper approaches, closes on, and lifts the green cube.",
    "start": 96,
    "end": 147
   },
   {
    "label": "The gripper moves the cube over the bowl, releases it, and the cube comes to rest inside.",
    "start": 195,
    "end": 228
   }
  ],
  "duration_s": 10.8
 },
 {
  "episode": 55,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm commits to the green cube.",
    "start": 0,
    "end": 30
   },
   {
    "label": "Gripper grasps the green cube.",
    "start": 45,
    "end": 69
   },
   {
    "label": "Cube is released into the bowl.",
    "start": 135,
    "end": 162
   }
  ],
  "duration_s": 6.17
 },
 {
  "episode": 55,
  "sample": 1,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 45
   },
   {
    "label": "Grasping the target cube",
    "start": 72,
    "end": 96
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 144,
    "end": 168
   }
  ],
  "duration_s": 6.17
 },
 {
  "episode": 55,
  "sample": 2,
  "intervals": [
   {
    "label": "The arm commits to the green cube",
    "start": 0,
    "end": 30
   },
   {
    "label": "The gripper grabs the green cube",
    "start": 45,
    "end": 75
   },
   {
    "label": "The cube is released into the bowl",
    "start": 135,
    "end": 165
   }
  ],
  "duration_s": 6.17
 },
 {
  "episode": 56,
  "sample": 0,
  "intervals": [
   {
    "label": "The robot arm moves from its initial position to commit to grabbing the red cube.",
    "start": 0,
    "end": 120
   },
   {
    "label": "The gripper descends, closes around the red cube, and lifts it off the table.",
    "start": 150,
    "end": 204
   },
   {
    "label": "The gripper moves the cube over the bowl and releases it inside.",
    "start": 261,
    "end": 294
   }
  ],
  "duration_s": 10.23
 },
 {
  "episode": 56,
  "sample": 1,
  "intervals": [
   {
    "label": "approaching the target cube",
    "start": 0,
    "end": 120
   },
   {
    "label": "grasping the cube",
    "start": 150,
    "end": 189
   },
   {
    "label": "releasing the cube into the bowl",
    "start": 252,
    "end": 282
   }
  ],
  "duration_s": 10.23
 },
 {
  "episode": 56,
  "sample": 2,
  "intervals": [
   {
    "label": "Approaching target cube",
    "start": 0,
    "end": 105
   },
   {
    "label": "Grasping the cube",
    "start": 135,
    "end": 192
   },
   {
    "label": "Placing cube in bowl",
    "start": 255,
    "end": 297
   }
  ],
  "duration_s": 10.23
 },
 {
  "episode": 57,
  "sample": 0,
  "intervals": [
   {
    "label": "Approaching target cube",
    "start": 0,
    "end": 18
   },
   {
    "label": "Grasping and lifting cube",
    "start": 27,
    "end": 63
   },
   {
    "label": "Releasing cube into bowl",
    "start": 117,
    "end": 153
   }
  ],
  "duration_s": 5.97
 },
 {
  "episode": 57,
  "sample": 1,
  "intervals": [
   {
    "label": "The robot arm moves from its starting position to commit to grabbing the blue cube.",
    "start": 0,
    "end": 39
   },
   {
    "label": "The gripper positions itself directly over the blue cube, closes, and lifts it off the table.",
    "start": 48,
    "end": 66
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and waits for it to come to rest.",
    "start": 126,
    "end": 153
   }
  ],
  "duration_s": 5.97
 },
 {
  "episode": 57,
  "sample": 2,
  "intervals": [
   {
    "label": "Committing to target cube",
    "start": 0,
    "end": 30
   },
   {
    "label": "Grasping the cube",
    "start": 42,
    "end": 69
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 123,
    "end": 162
   }
  ],
  "duration_s": 5.97
 },
 {
  "episode": 58,
  "sample": 0,
  "intervals": [
   {
    "label": "The arm commits to a cube.",
    "start": 0,
    "end": 69
   },
   {
    "label": "The gripper grabs the cube.",
    "start": 84,
    "end": 126
   },
   {
    "label": "The gripper releases the cube into the bowl.",
    "start": 180,
    "end": 204
   }
  ],
  "duration_s": 7.77
 },
 {
  "episode": 58,
  "sample": 1,
  "intervals": [
   {
    "label": "Approaching and selecting the red cube",
    "start": 0,
    "end": 66
   },
   {
    "label": "Grasping and lifting the red cube",
    "start": 81,
    "end": 108
   },
   {
    "label": "Dropping the red cube into the bowl",
    "start": 180,
    "end": 204
   }
  ],
  "duration_s": 7.77
 },
 {
  "episode": 58,
  "sample": 2,
  "intervals": [
   {
    "label": "Arm moves from starting position and commits to the red cube",
    "start": 0,
    "end": 84
   },
   {
    "label": "Gripper approaches, closes, and lifts the target cube",
    "start": 99,
    "end": 126
   },
   {
    "label": "Cube is released into the bowl and comes to rest",
    "start": 180,
    "end": 198
   }
  ],
  "duration_s": 7.77
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 {
  "episode": 59,
  "sample": 0,
  "intervals": [
   {
    "label": "Approaching and selecting the blue cube",
    "start": 0,
    "end": 48
   },
   {
    "label": "Gripping and lifting the blue cube",
    "start": 60,
    "end": 81
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 129,
    "end": 153
   }
  ],
  "duration_s": 5.63
 },
 {
  "episode": 59,
  "sample": 1,
  "intervals": [
   {
    "label": "The gripper commits to one cube.",
    "start": 0,
    "end": 30
   },
   {
    "label": "The gripper approaches, grabs, and lifts the cube.",
    "start": 39,
    "end": 69
   },
   {
    "label": "The gripper releases the cube into the bowl.",
    "start": 114,
    "end": 138
   }
  ],
  "duration_s": 5.63
 },
 {
  "episode": 59,
  "sample": 2,
  "intervals": [
   {
    "label": "approaching the target cube",
    "start": 0,
    "end": 33
   },
   {
    "label": "grasping the cube",
    "start": 36,
    "end": 63
   },
   {
    "label": "releasing the cube into the bowl",
    "start": 105,
    "end": 144
   }
  ],
  "duration_s": 5.63
 },
 {
  "episode": 60,
  "sample": 0,
  "intervals": [
   {
    "label": "The gripper approaches the red cube, committing to it.",
    "start": 0,
    "end": 66
   },
   {
    "label": "The gripper positions itself, closes, and grips the red cube, lifting it.",
    "start": 81,
    "end": 102
   },
   {
    "label": "The gripper holds the cube over the bowl, then releases it inside.",
    "start": 138,
    "end": 156
   }
  ],
  "duration_s": 6.13
 },
 {
  "episode": 60,
  "sample": 1,
  "intervals": [
   {
    "label": "Arm moves from its starting position to commit to the red cube.",
    "start": 0,
    "end": 60
   },
   {
    "label": "Gripper approaches, closes on, and lifts the red cube.",
    "start": 75,
    "end": 114
   },
   {
    "label": "Gripper is positioned over the bowl and releases the cube.",
    "start": 150,
    "end": 174
   }
  ],
  "duration_s": 6.13
 },
 {
  "episode": 60,
  "sample": 2,
  "intervals": [
   {
    "label": "The arm moves from its starting position to commit to the red cube.",
    "start": 0,
    "end": 60
   },
   {
    "label": "The gripper lowers, closes around, and lifts the red cube.",
    "start": 75,
    "end": 102
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to a rest.",
    "start": 138,
    "end": 162
   }
  ],
  "duration_s": 6.13
 },
 {
  "episode": 61,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm approaches target cube",
    "start": 0,
    "end": 39
   },
   {
    "label": "Gripper grabs the cube",
    "start": 48,
    "end": 81
   },
   {
    "label": "Cube is released into the bowl",
    "start": 174,
    "end": 228
   }
  ],
  "duration_s": 7.7
 },
 {
  "episode": 61,
  "sample": 1,
  "intervals": [
   {
    "label": "Approaching target cube",
    "start": 0,
    "end": 48
   },
   {
    "label": "Grasping and lifting cube",
    "start": 63,
    "end": 87
   },
   {
    "label": "Releasing cube into bowl",
    "start": 180,
    "end": 216
   }
  ],
  "duration_s": 7.7
 },
 {
  "episode": 61,
  "sample": 2,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 54
   },
   {
    "label": "Grasping the cube",
    "start": 66,
    "end": 102
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 174,
    "end": 207
   }
  ],
  "duration_s": 7.7
 },
 {
  "episode": 62,
  "sample": 0,
  "intervals": [
   {
    "label": "The arm moves toward the red cube.",
    "start": 0,
    "end": 72
   },
   {
    "label": "The gripper grasps the red cube.",
    "start": 90,
    "end": 126
   },
   {
    "label": "The gripper drops the red cube into the bowl.",
    "start": 186,
    "end": 225
   }
  ],
  "duration_s": 7.93
 },
 {
  "episode": 62,
  "sample": 1,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 75
   },
   {
    "label": "Grabbing the cube",
    "start": 96,
    "end": 123
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 195,
    "end": 225
   }
  ],
  "duration_s": 7.93
 },
 {
  "episode": 62,
  "sample": 2,
  "intervals": [
   {
    "label": "Arm moves to and commits to a cube",
    "start": 0,
    "end": 69
   },
   {
    "label": "Gripper closes and grips the cube",
    "start": 84,
    "end": 120
   },
   {
    "label": "Cube is released and settles in the bowl",
    "start": 174,
    "end": 225
   }
  ],
  "duration_s": 7.93
 },
 {
  "episode": 63,
  "sample": 0,
  "intervals": [
   {
    "label": "Approaching and committing to a target cube",
    "start": 0,
    "end": 30
   },
   {
    "label": "Gripping and lifting the target cube",
    "start": 45,
    "end": 90
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 174,
    "end": 234
   }
  ],
  "duration_s": 7.9
 },
 {
  "episode": 63,
  "sample": 1,
  "intervals": [
   {
    "label": "The robot arm moves from its starting position and commits to picking up the green cube.",
    "start": 0,
    "end": 36
   },
   {
    "label": "The gripper descends, closes around the green cube, and lifts it off the table.",
    "start": 72,
    "end": 126
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and moves away after the cube has settled.",
    "start": 195,
    "end": 228
   }
  ],
  "duration_s": 7.9
 },
 {
  "episode": 63,
  "sample": 2,
  "intervals": [
   {
    "label": "Approaching and committing to the green cube",
    "start": 0,
    "end": 39
   },
   {
    "label": "Grabbing and lifting the green cube",
    "start": 63,
    "end": 123
   },
   {
    "label": "Placing the cube in the bowl",
    "start": 195,
    "end": 216
   }
  ],
  "duration_s": 7.9
 },
 {
  "episode": 64,
  "sample": 0,
  "intervals": [
   {
    "label": "Committing to target cube",
    "start": 0,
    "end": 30
   },
   {
    "label": "Grasping the cube",
    "start": 36,
    "end": 51
   },
   {
    "label": "Releasing cube in bowl",
    "start": 90,
    "end": 153
   }
  ],
  "duration_s": 8.63
 },
 {
  "episode": 64,
  "sample": 1,
  "intervals": [
   {
    "label": "Committing to a target cube",
    "start": 0,
    "end": 27
   },
   {
    "label": "Grabbing the target cube",
    "start": 156,
    "end": 174
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 225,
    "end": 246
   }
  ],
  "duration_s": 8.63
 },
 {
  "episode": 64,
  "sample": 2,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 21
   },
   {
    "label": "Grasping the target cube",
    "start": 27,
    "end": 42
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 84,
    "end": 105
   }
  ],
  "duration_s": 8.63
 },
 {
  "episode": 65,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm commits to a cube",
    "start": 0,
    "end": 63
   },
   {
    "label": "Gripper grabs and lifts the cube",
    "start": 60,
    "end": 84
   },
   {
    "label": "Gripper releases cube into the bowl",
    "start": 114,
    "end": 150
   }
  ],
  "duration_s": 6.13
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 {
  "episode": 65,
  "sample": 1,
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   {
    "label": "The arm moves from its starting position and commits to the red cube.",
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    "end": 60
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   {
    "label": "The gripper approaches, grasps, and lifts the red cube.",
    "start": 63,
    "end": 81
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest.",
    "start": 138,
    "end": 153
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  ],
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 {
  "episode": 65,
  "sample": 2,
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   {
    "label": "The arm moves from its starting position to commit to the red cube.",
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    "end": 60
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   {
    "label": "The gripper approaches, closes on, and lifts the red cube.",
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    "end": 102
   },
   {
    "label": "The arm releases the cube into the bowl, and the cube comes to rest.",
    "start": 135,
    "end": 156
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 {
  "episode": 66,
  "sample": 0,
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   {
    "label": "approaching the target cube",
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    "end": 75
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   {
    "label": "grasping the cube",
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    "end": 150
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   {
    "label": "placing the cube in the bowl",
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    "end": 249
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 {
  "episode": 66,
  "sample": 1,
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   {
    "label": "Move from initial position and commit to the blue cube",
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    "end": 45
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   {
    "label": "Approach, grasp, and lift the blue cube",
    "start": 60,
    "end": 99
   },
   {
    "label": "Position the cube over the bowl and release it",
    "start": 165,
    "end": 195
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 {
  "episode": 66,
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   {
    "label": "Arm moves towards the cubes and commits to one",
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    "end": 147
   },
   {
    "label": "Gripper closes and grips the target cube",
    "start": 153,
    "end": 186
   },
   {
    "label": "Cube is released and lands in the bowl",
    "start": 228,
    "end": 252
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 {
  "episode": 67,
  "sample": 0,
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   {
    "label": "Arm moves and commits to the green cube",
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    "end": 69
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   {
    "label": "Gripper closes and grips the green cube",
    "start": 81,
    "end": 108
   },
   {
    "label": "Cube is released into the bowl",
    "start": 144,
    "end": 168
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  ],
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 {
  "episode": 67,
  "sample": 1,
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   {
    "label": "Approaching the target cube before grasping.",
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    "end": 36
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   {
    "label": "Gripping and lifting the target cube.",
    "start": 54,
    "end": 90
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   {
    "label": "Releasing the cube into the bowl.",
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    "end": 159
   }
  ],
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 {
  "episode": 67,
  "sample": 2,
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   {
    "label": "Approaching the target cube",
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    "end": 66
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   {
    "label": "Grasping the target cube",
    "start": 60,
    "end": 99
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   {
    "label": "Releasing the cube into the bowl",
    "start": 135,
    "end": 159
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  ],
  "duration_s": 6.13
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 {
  "episode": 68,
  "sample": 0,
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   {
    "label": "Arm commits to a cube",
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    "end": 72
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   {
    "label": "Gripper grabs the cube",
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    "end": 129
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   {
    "label": "Cube is released into the bowl",
    "start": 216,
    "end": 237
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 {
  "episode": 68,
  "sample": 1,
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   {
    "label": "Approaching the target cube",
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    "end": 69
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   {
    "label": "Grasping and lifting the cube",
    "start": 84,
    "end": 123
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   {
    "label": "Releasing the cube into the bowl",
    "start": 195,
    "end": 228
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  ],
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 {
  "episode": 68,
  "sample": 2,
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   {
    "label": "The arm moves from its starting position and commits to approaching the green cube.",
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    "end": 84
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   {
    "label": "The gripper descends, closes around the green cube, and lifts it from the table.",
    "start": 99,
    "end": 138
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest inside.",
    "start": 225,
    "end": 255
   }
  ],
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 {
  "episode": 69,
  "sample": 0,
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   {
    "label": "Arm commits to a target cube",
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    "end": 39
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   {
    "label": "Gripper closes on and lifts the cube",
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    "end": 78
   },
   {
    "label": "Cube is released and settles in the bowl",
    "start": 114,
    "end": 150
   }
  ],
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 {
  "episode": 69,
  "sample": 1,
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   {
    "label": "Committing to the target cube",
    "start": 0,
    "end": 45
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   {
    "label": "Grasping the target cube",
    "start": 51,
    "end": 81
   },
   {
    "label": "Placing the cube in the bowl",
    "start": 114,
    "end": 153
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  ],
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 {
  "episode": 69,
  "sample": 2,
  "intervals": [
   {
    "label": "The arm moves from its starting position and commits to grabbing the red cube.",
    "start": 0,
    "end": 45
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   {
    "label": "The gripper approaches, closes, and grips the red cube, lifting it from the table.",
    "start": 57,
    "end": 72
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest inside.",
    "start": 108,
    "end": 135
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  ],
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 {
  "episode": 70,
  "sample": 0,
  "intervals": [
   {
    "label": "The robot moves towards the green cube, committing to it as its target.",
    "start": 0,
    "end": 174
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   {
    "label": "The gripper descends, closes around the green cube, and lifts it off the table.",
    "start": 195,
    "end": 240
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and stops moving.",
    "start": 285,
    "end": 324
   }
  ],
  "duration_s": 10.5
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 {
  "episode": 70,
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   {
    "label": "Arm approaches the final target cube after a failed attempt",
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    "end": 210
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   {
    "label": "Gripper grasps and lifts the target cube",
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    "end": 255
   },
   {
    "label": "Cube is released and settles in the bowl",
    "start": 297,
    "end": 318
   }
  ],
  "duration_s": 10.5
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 {
  "episode": 70,
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   {
    "label": "Approaching the green cube after a failed attempt on the red one.",
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    "end": 195
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   {
    "label": "Grasping the green cube.",
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    "end": 240
   },
   {
    "label": "Releasing the cube into the bowl.",
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    "end": 318
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 {
  "episode": 71,
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   {
    "label": "Approaching the target cube",
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    "end": 60
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   {
    "label": "Grasping the cube",
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    "end": 108
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   {
    "label": "Placing the cube in the bowl",
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    "end": 165
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  "episode": 71,
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   {
    "label": "Arm approaches and commits to the red cube.",
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    "end": 45
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   {
    "label": "Gripper moves down to grasp the red cube.",
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    "end": 102
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   {
    "label": "Arm holds the cube over the bowl, then releases it.",
    "start": 144,
    "end": 171
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 {
  "episode": 71,
  "sample": 2,
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   {
    "label": "Approaching the target cube",
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    "end": 60
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   {
    "label": "Grasping the target cube",
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    "end": 108
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   {
    "label": "Releasing the cube into the bowl",
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    "end": 174
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  "episode": 72,
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   {
    "label": "Approaching the target cube",
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    "end": 75
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   {
    "label": "Grasping the cube",
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    "end": 150
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   {
    "label": "Releasing the cube into the bowl",
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    "end": 225
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 {
  "episode": 72,
  "sample": 1,
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   {
    "label": "Approaching the blue cube",
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    "end": 105
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   {
    "label": "Grasping the blue cube",
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    "end": 165
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   {
    "label": "Releasing the cube into the bowl",
    "start": 195,
    "end": 234
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  "episode": 72,
  "sample": 2,
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   {
    "label": "Approaching target cube",
    "start": 0,
    "end": 45
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   {
    "label": "Grasping the cube",
    "start": 54,
    "end": 129
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   {
    "label": "Releasing the cube into the bowl",
    "start": 180,
    "end": 225
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  "episode": 73,
  "sample": 0,
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   {
    "label": "The gripper commits to picking up the blue cube.",
    "start": 0,
    "end": 24
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   {
    "label": "The gripper grasps the blue cube and lifts it off the table.",
    "start": 30,
    "end": 54
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   {
    "label": "The gripper releases the blue cube into the bowl.",
    "start": 96,
    "end": 129
   }
  ],
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  "episode": 73,
  "sample": 1,
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   {
    "label": "Robot arm commits to a target cube",
    "start": 0,
    "end": 18
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   {
    "label": "Robot arm grabs the target cube",
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    "end": 39
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   {
    "label": "Robot arm places the cube in the bowl",
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    "end": 123
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  "episode": 73,
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   {
    "label": "Arm moves to target cube",
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    "end": 18
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   {
    "label": "Gripper grasps the cube",
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    "end": 36
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   {
    "label": "Arm releases cube into bowl",
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    "end": 90
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  "episode": 74,
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    "label": "Approaching the target cube",
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    "end": 45
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   {
    "label": "Grasping the cube",
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   {
    "label": "Releasing the cube into the bowl",
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    "end": 180
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  "episode": 74,
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   {
    "label": "The arm moves from its starting position and commits to approaching the blue cube.",
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    "end": 60
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   {
    "label": "The gripper descends, closes around the blue cube, and lifts it from the table.",
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    "end": 96
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   {
    "label": "The gripper releases the blue cube into the bowl, and the cube comes to rest.",
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    "end": 210
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  "episode": 74,
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    "label": "The arm commits to one cube.",
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    "end": 75
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   {
    "label": "The gripper grabs the target cube.",
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    "end": 135
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   {
    "label": "The cube is released into the bowl.",
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    "end": 255
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  "episode": 75,
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   {
    "label": "Approaching the target cube",
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    "end": 36
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   {
    "label": "Grasping the target cube",
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    "end": 93
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   {
    "label": "Placing the cube in the bowl",
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    "end": 159
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  "episode": 75,
  "sample": 1,
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   {
    "label": "Approaching the target cube",
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    "end": 45
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   {
    "label": "Gripping the target cube",
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    "end": 93
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   {
    "label": "Releasing the cube into the bowl",
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    "end": 150
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  "episode": 75,
  "sample": 2,
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   {
    "label": "The gripper commits to one cube",
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    "end": 36
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   {
    "label": "The gripper grips and lifts the target cube",
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    "end": 78
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   {
    "label": "The gripper releases the cube into the bowl",
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    "end": 141
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  "episode": 76,
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   {
    "label": "The arm moves from its starting position to commit to the green cube.",
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    "end": 60
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   {
    "label": "The gripper descends, closes around the green cube, and lifts it from the table.",
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    "end": 129
   },
   {
    "label": "The gripper releases the cube over the bowl, and the cube comes to rest inside it.",
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    "end": 240
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  "episode": 76,
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    "label": "Approaching the target cube",
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    "label": "Grasping the target cube",
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    "end": 114
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   {
    "label": "Placing the cube in the bowl",
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  "episode": 76,
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    "label": "Approaching the target cube",
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    "label": "Gripping the target cube",
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   {
    "label": "Releasing the cube into the bowl",
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    "label": "Approaching the target cube",
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    "label": "Grasping the cube",
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   {
    "label": "Releasing the cube into the bowl",
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  "episode": 77,
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    "label": "Approaching the target cube",
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    "label": "Grasping the cube",
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   {
    "label": "Releasing the cube into the bowl",
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  "episode": 77,
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    "label": "approaching the target cube",
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    "label": "grasping the cube",
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    "end": 96
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   {
    "label": "releasing the cube into the bowl",
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  "episode": 78,
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    "label": "Approaching and committing to a cube",
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    "label": "Grabbing and lifting the cube",
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    "end": 138
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   {
    "label": "Placing the cube in the bowl",
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    "end": 255
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  "episode": 78,
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    "label": "The gripper moves from its starting position to commit to the red cube.",
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    "end": 105
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   {
    "label": "The gripper descends, closes around the red cube, and lifts it off the table.",
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    "end": 159
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   {
    "label": "The gripper, positioned over the bowl, releases the cube which lands inside.",
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    "end": 264
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 {
  "episode": 78,
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    "label": "Approaching and selecting a cube",
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   {
    "label": "Grasping and lifting the cube",
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    "end": 129
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   {
    "label": "Placing the cube in the bowl",
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  "episode": 79,
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    "label": "Committing to a target cube",
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    "end": 75
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    "label": "Grasping the target cube",
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    "end": 99
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   {
    "label": "Releasing the cube into the bowl",
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    "end": 165
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  "episode": 79,
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    "label": "Approaching the target cube",
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    "end": 60
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   {
    "label": "Grasping the cube",
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    "end": 102
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   {
    "label": "Placing the cube in the bowl",
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  "episode": 79,
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    "label": "The arm moves from its starting position and commits to approaching the blue cube.",
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    "end": 36
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   {
    "label": "The gripper descends, closes around the blue cube, and lifts it off the table.",
    "start": 54,
    "end": 75
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and stops moving after the cube has settled.",
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    "end": 162
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  "episode": 80,
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    "label": "Approaching the target cube",
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    "end": 57
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   {
    "label": "Grasping the target cube",
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    "end": 102
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   {
    "label": "Dropping the cube into the bowl",
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    "end": 198
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  "episode": 80,
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   {
    "label": "Approaching target cube",
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    "end": 45
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   {
    "label": "Grasping target cube",
    "start": 54,
    "end": 84
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   {
    "label": "Releasing cube into bowl",
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    "end": 186
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  "duration_s": 7.2
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  "episode": 80,
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    "label": "approaching the target cube",
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    "end": 48
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    "label": "grasping the cube",
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    "end": 96
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   {
    "label": "releasing the cube into the bowl",
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    "end": 183
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  "episode": 81,
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    "label": "Approaching and selecting a cube",
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   {
    "label": "Gripping the target cube",
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    "end": 141
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   {
    "label": "Placing the cube in the bowl",
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    "end": 234
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  "episode": 81,
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   {
    "label": "Approaching and committing to the target cube",
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    "end": 60
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   {
    "label": "Grasping and lifting the target cube",
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    "end": 129
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   {
    "label": "Releasing the cube into the bowl",
    "start": 195,
    "end": 240
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  "episode": 81,
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   {
    "label": "Committing to a cube",
    "start": 0,
    "end": 90
   },
   {
    "label": "Grasping the cube",
    "start": 105,
    "end": 150
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 180,
    "end": 225
   }
  ],
  "duration_s": 9.13
 },
 {
  "episode": 82,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm commits to a target cube",
    "start": 0,
    "end": 69
   },
   {
    "label": "Gripper grabs the target cube",
    "start": 81,
    "end": 129
   },
   {
    "label": "Cube is released and settles in the bowl",
    "start": 210,
    "end": 249
   }
  ],
  "duration_s": 9.3
 },
 {
  "episode": 82,
  "sample": 1,
  "intervals": [
   {
    "label": "Arm approaches the blue cube after first moving towards the green one.",
    "start": 0,
    "end": 84
   },
   {
    "label": "Gripper lowers, grasps, and lifts the blue cube.",
    "start": 96,
    "end": 144
   },
   {
    "label": "Gripper holds the cube over the bowl, then releases it.",
    "start": 195,
    "end": 234
   }
  ],
  "duration_s": 9.3
 },
 {
  "episode": 82,
  "sample": 2,
  "intervals": [
   {
    "label": "The robot arm moves from its starting position and commits to approaching the blue cube.",
    "start": 0,
    "end": 54
   },
   {
    "label": "The gripper descends, closes around the blue cube, and lifts it from the table.",
    "start": 66,
    "end": 102
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest inside.",
    "start": 195,
    "end": 216
   }
  ],
  "duration_s": 9.3
 },
 {
  "episode": 83,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm moves toward and commits to a cube",
    "start": 0,
    "end": 105
   },
   {
    "label": "Gripper closes and grips the target cube",
    "start": 108,
    "end": 165
   },
   {
    "label": "Cube is released and lands in the bowl",
    "start": 234,
    "end": 258
   }
  ],
  "duration_s": 10.77
 },
 {
  "episode": 83,
  "sample": 1,
  "intervals": [
   {
    "label": "The robot arm moves towards and commits to the green cube.",
    "start": 0,
    "end": 105
   },
   {
    "label": "The gripper descends, grasps, and lifts the green cube.",
    "start": 135,
    "end": 189
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest.",
    "start": 240,
    "end": 264
   }
  ],
  "duration_s": 10.77
 },
 {
  "episode": 83,
  "sample": 2,
  "intervals": [
   {
    "label": "Committing to target cube",
    "start": 0,
    "end": 105
   },
   {
    "label": "Grabbing target cube",
    "start": 141,
    "end": 174
   },
   {
    "label": "Releasing cube in bowl",
    "start": 234,
    "end": 270
   }
  ],
  "duration_s": 10.77
 },
 {
  "episode": 84,
  "sample": 0,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 60
   },
   {
    "label": "Grasping the cube",
    "start": 81,
    "end": 126
   },
   {
    "label": "Placing the cube in the bowl",
    "start": 195,
    "end": 240
   }
  ],
  "duration_s": 8.73
 },
 {
  "episode": 84,
  "sample": 1,
  "intervals": [
   {
    "label": "The arm descends from its starting position and commits to moving towards the green cube.",
    "start": 0,
    "end": 84
   },
   {
    "label": "The gripper approaches, closes around, and lifts the green cube off the table.",
    "start": 114,
    "end": 147
   },
   {
    "label": "The gripper holds the cube over the bowl, then releases it, and the cube comes to rest inside.",
    "start": 210,
    "end": 237
   }
  ],
  "duration_s": 8.73
 },
 {
  "episode": 84,
  "sample": 2,
  "intervals": [
   {
    "label": "Arm approaches and commits to a target cube",
    "start": 0,
    "end": 60
   },
   {
    "label": "Gripper approaches, grasps, and lifts the target cube",
    "start": 90,
    "end": 150
   },
   {
    "label": "Gripper positions over the bowl and releases the cube",
    "start": 210,
    "end": 240
   }
  ],
  "duration_s": 8.73
 },
 {
  "episode": 85,
  "sample": 0,
  "intervals": [
   {
    "label": "Arm moves from start and commits to a cube",
    "start": 0,
    "end": 114
   },
   {
    "label": "Gripper approaches, grasps, and lifts the cube",
    "start": 186,
    "end": 249
   },
   {
    "label": "Cube is released and settles in the bowl",
    "start": 315,
    "end": 354
   }
  ],
  "duration_s": 13.8
 },
 {
  "episode": 85,
  "sample": 1,
  "intervals": [
   {
    "label": "Arm moves from its starting position and commits to approaching the red cube.",
    "start": 0,
    "end": 105
   },
   {
    "label": "Gripper approaches, closes on, and lifts the red cube from the table.",
    "start": 144,
    "end": 240
   },
   {
    "label": "Arm holds the cube over the bowl, releases it, and the cube comes to rest inside.",
    "start": 315,
    "end": 384
   }
  ],
  "duration_s": 13.8
 },
 {
  "episode": 85,
  "sample": 2,
  "intervals": [
   {
    "label": "Arm approaches and commits to the red cube",
    "start": 0,
    "end": 114
   },
   {
    "label": "Gripper grasps and lifts the red cube",
    "start": 120,
    "end": 159
   },
   {
    "label": "Gripper releases the cube into the bowl",
    "start": 240,
    "end": 276
   }
  ],
  "duration_s": 13.8
 },
 {
  "episode": 86,
  "sample": 0,
  "intervals": [
   {
    "label": "Approaching the target cube",
    "start": 0,
    "end": 30
   },
   {
    "label": "Grasping the target cube",
    "start": 39,
    "end": 66
   },
   {
    "label": "Releasing the cube into the bowl",
    "start": 105,
    "end": 129
   }
  ],
  "duration_s": 5.27
 },
 {
  "episode": 86,
  "sample": 1,
  "intervals": [
   {
    "label": "The gripper moves from its starting position and commits to approaching the red cube.",
    "start": 0,
    "end": 30
   },
   {
    "label": "The gripper approaches, closes around, and lifts the red cube off the table.",
    "start": 45,
    "end": 69
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and the cube comes to rest inside.",
    "start": 105,
    "end": 138
   }
  ],
  "duration_s": 5.27
 },
 {
  "episode": 86,
  "sample": 2,
  "intervals": [
   {
    "label": "The robot arm moves towards and commits to the red cube.",
    "start": 0,
    "end": 27
   },
   {
    "label": "The gripper descends, closes around, and lifts the red cube.",
    "start": 33,
    "end": 63
   },
   {
    "label": "The gripper holds the cube over the bowl, releases it, and stops moving.",
    "start": 105,
    "end": 135
   }
  ],
  "duration_s": 5.27
 }
]