|----------------------------|--------------------------------------------------------------------------|
| BEHAVIOR-1K | 基准里定义了约 1000 种日常家务活动（activities）基于 50 个场景（房屋、花园、餐厅、办公室等） |
| 本仓库 2026-challenge-demos | 挑战赛子集从 BEHAVIOR-1K 环境里选出 100 个长程任务：100 个任务 × 每任务 200 条 demo = 20,000 条轨迹 |
基础信息
BEHAROR-1K 2026 挑战赛纯仿真（OmniGibson）演示数据：
LeRobot v3 格式
100 个长程家务任务 × 每任务恰好 200 条演示 = 20,000 episode、2.109 亿帧、30 fps，合计约 1,953 小时、3.0 TB。
机器人只有一种本体：robot_type: "R1Pro"（全向底盘 + 4 自由度躯干 + 双 7 自由度手臂 + 双平行夹爪）。
目录结构
bash
2026-challenge-demos/
├── meta/
│ ├── info.json # schema、fps、路径模板、robot_type、总量
│ ├── stats.json # 每个特征的 min/max/mean/std
│ ├── tasks.jsonl/.parquet # 100 个任务：task_index / task_name / 自然语言指令
│ └── episodes/chunk-0XX/file-000.parquet # 100 个分片，每片 200 条 episode 的索引
├── data/chunk-000..099/file-0XX.parquet # 954 个低维帧级分片，共 70 GB
├── videos/<video_key>/chunk-0XX/file-0XX.mp4 # 6 路视频流，17,091 个文件，2.9 TB
└── annotations/
├── skill_summary.csv, skill_type_summary.csv
└── task-0000..0099/episode_XXXXXXXX.json # 20,000 份技能分段标注，241 MB关键一点：chunk 编号就等于 task 编号 ，data/chunk-094 全部是 task 94 的数据，所以按任务取数据非常直接。meta/episodes 里除了标准 LeRobot 字段，还额外给了 task_index、demo_index_within_task、raw_episode_id、task_instance_id（每条 demo 对应一个不同的实例，200 条 = 200 个实例，场景类似：同一类客厅布置、同一台收音机、同一张茶几。task_instance_id 不同，主要差在可随机的细节（机器人初始位姿、物体微调位置、轨迹怎么走等），不是换成另一套房间背景）和 annotation_path（指向对应的技能标注 JSON）。
例子: episodes/chunk-0XX/file-000.parquet
meta/episodes/chunk-000/file-000.parquet 第 0 行（episode 0）的完整 38 列
{ "episode_index": 0, "tasks": ["turning_on_radio"], "length": 1956, "data/chunk_index": 0, "data/file_index": 0, "dataset_from_index": 0, "dataset_to_index": 1956, "videos/observation.depth_linear.left_realsense_link_camera_0/chunk_index": 0, "videos/observation.depth_linear.left_realsense_link_camera_0/file_index": 0, "videos/observation.depth_linear.left_realsense_link_camera_0/from_timestamp": 0.0, "videos/observation.depth_linear.left_realsense_link_camera_0/to_timestamp": 65.2, "videos/observation.rgb.left_realsense_link_camera_0/chunk_index": 0, "videos/observation.rgb.left_realsense_link_camera_0/file_index": 0, "videos/observation.rgb.left_realsense_link_camera_0/from_timestamp": 0.0, "videos/observation.rgb.left_realsense_link_camera_0/to_timestamp": 65.2, "videos/observation.depth_linear.right_realsense_link_camera_0/chunk_index": 0, "videos/observation.depth_linear.right_realsense_link_camera_0/file_index": 0, "videos/observation.depth_linear.right_realsense_link_camera_0/from_timestamp": 0.0, "videos/observation.depth_linear.right_realsense_link_camera_0/to_timestamp": 65.2, "videos/observation.rgb.right_realsense_link_camera_0/chunk_index": 0, "videos/observation.rgb.right_realsense_link_camera_0/file_index": 0, "videos/observation.rgb.right_realsense_link_camera_0/from_timestamp": 0.0, "videos/observation.rgb.right_realsense_link_camera_0/to_timestamp": 65.2, "videos/observation.depth_linear.zed_link_camera_0/chunk_index": 0, "videos/observation.depth_linear.zed_link_camera_0/file_index": 0, "videos/observation.depth_linear.zed_link_camera_0/from_timestamp": 0.0, "videos/observation.depth_linear.zed_link_camera_0/to_timestamp": 65.2, "videos/observation.rgb.zed_link_camera_0/chunk_index": 0, "videos/observation.rgb.zed_link_camera_0/file_index": 0, "videos/observation.rgb.zed_link_camera_0/from_timestamp": 0.0, "videos/observation.rgb.zed_link_camera_0/to_timestamp": 65.2, "meta/episodes/chunk_index": 0, "meta/episodes/file_index": 0, "task_index": 0, "demo_index_within_task": 0, "raw_episode_id": 10, "task_instance_id": 1, "annotation_path": "annotations/task-0000/episode_00000010.json" }
|------------------------|----|-------------------------------------------------------------------------------------|
| 字段 | 值 | 含义 |
| demo_index_within_task | 0 | 该任务内的第几条 demo（从 0 起）。task-0000 有 200 条，所以是 0...199 |
| raw_episode_id | 10 | 原始采集/仿真导出时的 episode 编号。annotation 文件名就用它：episode_00000010.json（不是 0，而是 10、20、30...） |
| task_instance_id | 1 | 场景实例编号：这次 demo 用的是哪套房间/物体摆放。同一 task 的 200 条对应 200 个不同实例，一般不会同场景重复采 |
每个任务采了 200 条 demo，每条对应该任务下的一个场景实例；不同任务会部分重叠地从更大的实例池（约 300）里抽样，而不是都跑同一套 200 个固定场景。(task_index, task_instance_id) 在全库是唯一的（2 万组），不会出现"同一任务、同一实例采两条"。
帧级字段（data/*.parquet）
|----------------------------------------------------------------|--------|---------------------------|
| 字段 | 形状 | 含义 |
| action | 23 | 关节空间控制指令 |
| observation.state | 61 | 机器人本体状态 |
| next.reward | 1 | 稀疏奖励，几乎全 0，成功时为 1 |
| next.terminated / next.truncated | 1 bool | 终止标志；truncated 全为 False |
| observation.robot2cam_pose.* | 7 | 三个相机相对机器人基座的位姿（xyz + 四元数） |
| timestamp/frame_index/episode_index/index/task_index | 1 | 索引 |
action 的 23 维按 min/max 可以清楚切分：[0:3] 底盘速度（vx, vy, ω，限幅 ±0.7/±0.7/±0.3），[3:7] 躯干 4 关节（其中第 4 维恒为 0），[7:14] 左臂 7 关节角、[14] 左夹爪（−1~1 连续开合），[15:22] 右臂 7 关节、[22] 右夹爪。
observation.state 的 61 维结构是 3 + 25×2 + 8：底盘速度 3；每侧手臂 25 维 = 关节位置 7 + 关节速度 7 + 末端位置 3 + 末端四元数 4 + 两指开度 2（0~0.05 m）+ 两指速度 2（左手 [3:28]，右手 [28:53]，左右末端 y 分量符号相反可验证）；最后躯干 4 关节位置 [53:57] + 躯干 4 关节速度 [57:61]。
例子
{ "action": [ -1.401298464324817e-45, -1.401298464324817e-45, 1.401298464324817e-45, 1.024999976158142, -1.4500000476837158, -0.4699999988079071, 0.0, 0.001534005394205451, 0.0015339808305725455, -0.0030679479241371155, -0.005825221072882414, 3.7052814150229096e-09, 0.005837764125317335, -0.0030679607298225164, 1.0, 0.0015339808305725455, -0.0015354459173977375, 0.005784168839454651, -0.005768376402556896, 0.005722103174775839, -0.003071559825912118, -0.0015339808305725455, 1.0 ], "next.reward": 0.0, "next.terminated": false, "next.truncated": false, "observation.state": [ -0.00018848184845410287, -0.00016677356325089931, -0.00028227586881257594, -0.0011655595153570175, 0.0011925247963517904, 0.003628375707194209, 0.001667406759224832, -0.003997930325567722, 0.0017165306489914656, -0.003347321879118681, -0.0015401816926896572, -0.0027899383567273617, -0.012181336991488934, -3.535494033712894e-05, 0.004092621151357889, -0.0006213559536263347, 0.006444641854614019, 0.12103390693664551, 0.2521986961364746, 0.4382501244544983, 0.00018730852752923965, 0.999723494052887, -0.0010849122190847993, -0.023491252213716507, 0.04998980835080147, 0.0499931238591671, -1.998574589379132e-06, 0.00020273269910831004, -0.0011254005366936326, 0.0011846779379993677, 0.002427040133625269, 0.0017698999727144837, -0.002615338657051325, 0.001055450178682804, -0.003466834546998143, -0.0013330451911315322, -0.003092183731496334, -0.010854184627532959, -0.00039969291538000107, 0.0038344801869243383, 9.756346116773784e-05, 0.007471950724720955, 0.12106847763061523, -0.251833438873291, 0.4382484257221222, 9.589002002030611e-05, 0.9997294545173645, -0.001145782764069736, -0.023231912404298782, 0.04999943822622299, 0.04996443912386894, -3.391884092707187e-06, 0.0002589857904240489, 1.0242178440093994, -1.4490540027618408, -0.46960365772247314, -5.989704732201062e-05, -0.0007096318295225501, 0.005318094976246357, 0.0014740132028236985, -8.187937783077359e-05 ], "observation.robot2cam_pose.left_realsense_link_camera_0": [ 0.17454767227172852, 0.25521135330200195, 0.5009310245513916, -0.17118892073631287, 0.16723866760730743, -0.6871031522750854, 0.6860137581825256 ], "observation.robot2cam_pose.right_realsense_link_camera_0": [ 0.17455053329467773, -0.24880361557006836, 0.5009567737579346, -0.17106662690639496, 0.16700443625450134, -0.6870934963226318, 0.6861109733581543 ], "observation.robot2cam_pose.zed_link_camera_0": [ 0.23947882652282715, -4.76837158203125e-07, 1.3921430110931396, 0.39248940348625183, -0.3925163149833679, -0.5881860852241516, 0.5881497859954834 ], "timestamp": 0.0, "frame_index": 0, "episode_index": 0, "index": 0, "task_index": 0 }
视觉观测 videos/
三个相机 × RGB + 线性深度 = 6 路视频，全部 hevc 编码：zed_link（头部，720×720）、left_realsense_link 和 right_realsense_link（腕部，480×480）。
RGB 是 yuv420p/crf 30；深度是 gray12le 单通道，经过 log 压缩存储 ，解码时需要用 info 里的 depth_min=0.01、depth_max=10.0、shift=3.5、use_log=true 反变换，输出单位是毫米。
视频按时间戳区间打包成大文件，episode 的起止由 meta/episodes 里的 from_timestamp/to_timestamp 给出。
例子：
behavior-1k/2026-challenge-demos/videos/observation.rgb.zed_link_camera_0/chunk-000/file-000.mp4
这个文件里有 37 条 episode（episode_index 0--36，全是 task 0）。
按时间首尾相接串在同一个 mp4 里，总长 2761.5 秒（约 46 分钟），和 ffprobe 时长一致。例如：
|---------|------|------------------|
| episode | 帧数 | 视频时间段（秒） |
| 0 | 1956 | 0.0 -- 65.2 |
| 1 | 2340 | 65.2 -- 143.2 |
| ... | ... | ... |
| 36 | 2545 | 2676.7 -- 2761.5 |
不同视频分片装的 episode 数不固定（按文件大小切分）；要用某条 episode 时，看 meta/episodes 里对应的 from_timestamp / to_timestamp 切片即可。
技能标注 annotations/
技能级时间标注层 JSON：在原始轨迹（视频 + 状态/动作）之上，把每条 episode 切成可解释的技能/原语片段，供层次学习、分段评测或条件生成使用；不是 LeRobot 加载帧数据所必需的。
有什么
|---------------------------------------------------|-------------------------------------------------|
| 内容 | 作用 |
| task-0000 ... task-0099/（各 200 个 episode_*.json） | 与 20,000 条 demo 一一对应的标注本体 |
| skill_summary.csv | 全库按技能名汇总（次数、时长、覆盖 task 数）------给人看的目录 |
| skill_type_summary.csv | 按 navigation / uncoordinated / coordinated 三类汇总 |
单条 JSON 里核心是两层：
-
skill_annotation：细粒度技能片段，字段有skill_id/skill_description（如move to、pick up from）、object_id（涉及的物体实例名，如radio_89、coffee_table_koagbh_0）、manipulating_object_id、memory_prefix（如back，表示"放回原处"这类依赖记忆的语义）、spatial_prefix、frame_duration（起止帧）、skill_type(navigation / uncoordinated / coordinated)。"skill_annotation": [ { "skill_idx": 0, "skill_id": [1], "skill_description": ["move to"], "object_id": [["radio_89"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [0, 265], "mp_ef": [], "skill_type": ["navigation"] }, -
primitive_annotation：更粗的原语层，通过skill_idxes聚合若干技能（例如move to+pick up from合并成一个pick up from原语）。"primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [2], "primitive_description": ["pick up from"], "object_id": [["radio_89", "coffee_table_koagbh_0"]], "manipulating_object_id": ["radio_89"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [0, 1162], "skill_idxes": [0, 1] },
总结
全库共 406,341 个技能片段，35 种技能。skill_type 分三类：uncoordinated 单臂操作 230,674 段、navigation 导航 139,556 段、coordinated 双臂协同 36,111 段。最高频技能是 move to（143,566 段，100 个任务全覆盖）、pick up from（93,092，99 个任务）、place in（43,743，61 个任务）、place on（34,580，71 个任务）；长尾技能只出现在个别任务里，例如 press、ignite、hang、push tray 各 200 段仅 1 个任务，lift 只有 1 段。
任务覆盖
100 个任务都是 BEHAVIOR 风格的长程家务，带自然语言指令，例如 turning_on_radio（"Turn on the radio receiver that's on the table in the living room."）、picking_up_trash、putting_away_Halloween_decorations、make_pizza、loading_the_car。
bash
#二者是同一任务的两种写法，一对一绑定，都由 task_index 索引 {"task_index": 0, "task_name": "turning_on_radio", "task": "Turn on the radio receiver that's on the table in the living room."} {"task_index": 1, "task_name": "picking_up_trash", "task": "Put the three cans of soda from the living room inside the trash can in the kitchen."} {"task_index": 2, "task_name": "putting_away_Halloween_decorations", "task": "Place each of the two pumpkins and all three candles from the living room inside a cabinet in the living room (use any cabinet), then make sure every cabinet is closed, and position the cauldron so it is next to a table in the living room."} {"task_index": 3, "task_name": "cleaning_up_plates_and_food", "task": "From the breakfast table in the kitchen, move both pizzas - keeping each on its plate - into the same refrigerator, put both bowls into one sink, and make sure the refrigerator is closed."} {"task_index": 4, "task_name": "can_meat", "task": "Open the kitchen cabinet, take out the two hinged jars, open them, place exactly two cooked bratwursts from the chopping board on the countertop into each jar, then close both jars, put them back inside the cabinet, and close the cabinet."} {"task_index": 5, "task_name": "setting_mousetraps", "task": "Take the four mousetraps from the cabinet in the bathroom and place them on the bathroom floor. Make sure all four end up on the same floor surface, and ensure that at least two of them are either under or directly next to the same bathroom sink."} {"task_index": 6, "task_name": "hiding_Easter_eggs", "task": "Take the three Easter eggs out of the wicker basket on the lawn in the garden, then place them on the lawn next to a single tree (choose any tree) so that all three eggs are next to the same tree and none are left in the basket."} {"task_index": 7, "task_name": "picking_up_toys", "task": "Put all the toys in the child's room - the three board games (two on the bed and one on the table), the two jigsaw puzzles on the table, and the tennis ball on the table - inside the toy box on the table in the child's room."} {"task_index": 8, "task_name": "rearranging_kitchen_furniture", "task": "Move the toaster, food processor, and French press from the kitchen countertop into the same kitchen cabinet, and make sure that cabinet is closed at the end."} {"task_index": 9, "task_name": "putting_up_Christmas_decorations_inside", "task": "In the living room, take the wreath, three candy canes, and two pillar candles out of the wicker basket. Place the wreath and two of the candy canes on the same living-room sofa. Put the remaining candy cane on top of a dining-room table. Put both pillar candles together on top of one dining-room table (they can share the same table). Finally, place all three gift boxes under or right next to the Christmas tree in the living room."} {"task_index": 10, "task_name": "set_up_a_coffee_station_in_your_kitchen", "task": "Set up a coffee station on the kitchen countertop: keep the coffee maker on the countertop, move the bottle of coffee from the kitchen shelf to the counter next to the coffee maker, place a paper coffee filter on top of the coffee maker, put the saucer next to the coffee maker with the coffee cup on the saucer, and place the electric kettle next to the coffee maker."} {"task_index": 11, "task_name": "putting_dishes_away_after_cleaning", "task": "In the kitchen, gather all eight plates from the two countertops, place them all inside a single cabinet (either one), and make sure all cabinets are closed when you're done."} {"task_index": 12, "task_name": "preparing_lunch_box", "task": "Put both apple halves, the club sandwich, and the chocolate chip cookie from the chopping board on the kitchen countertop into the packing box on the countertop. Then take the bottle of tea out of the refrigerator, put it into the same box, and close the refrigerator when you're done."} {"task_index": 13, "task_name": "loading_the_car", "task": "Put the digital camera from the living room table into the container on the living room floor. Then take the container and the tennis racket to the garage, place both in the car trunk, and close it."} {"task_index": 14, "task_name": "carrying_in_groceries", "task": "Take the sack of groceries out of the car trunk in the garage, bring it to the kitchen, and put both the tomato and the carton of milk into the refrigerator in the kitchen. When you're done, close the car trunk and make sure the refrigerator in the kitchen is closed."} {"task_index": 15, "task_name": "bringing_in_wood", "task": "Bring the three plywood sheets from the garden into the corridor and place them on the floor there."} {"task_index": 16, "task_name": "moving_boxes_to_storage", "task": "Move the two storage containers from the living room to the garage. In the garage, place one container on the floor and stack the other container on top of it (either order is fine)."} {"task_index": 17, "task_name": "bringing_water", "task": "Retrieve the two bottles from the refrigerator in the kitchen, bring them to the living room, and place both on the coffee table. Make sure the refrigerator is closed when you finish."} {"task_index": 18, "task_name": "tidying_bedroom", "task": "In the bedroom, move the book from the bed onto either nightstand, and place the two sandals side by side next to the bed."} {"task_index": 19, "task_name": "outfit_a_basic_toolbox", "task": "In the utility room, put the drill, pliers, flashlight, Allen wrench, and screwdriver from the tabletop into the toolbox, keep the toolbox on the tabletop, and close the toolbox."} {"task_index": 20, "task_name": "sorting_vegetables", "task": "Sort the vegetables from the two wicker baskets on the kitchen floor into the mixing bowls on the kitchen countertop: put all three bok choy and all three Vidalia onions together into one mixing bowl; put both leeks and both broccoli together into a second mixing bowl; and put all three sweet corn into a third mixing bowl."} {"task_index": 21, "task_name": "collecting_childrens_toys", "task": "Pick up the two dice from the bed, the two teddy bears from the floor, and the two board games (one from the desk and one from the bed), and place them all inside the same bookcase in the child's room."} {"task_index": 22, "task_name": "putting_shoes_on_rack", "task": "Pick up the two gym shoes and the two sandals from the corridor floor and place them onto the hallstand (shoe rack) in the corridor, making sure they are on the rack and not on the floor. Arrange them so the two gym shoes are next to each other and the two sandals are next to each other."} {"task_index": 23, "task_name": "boxing_books_up_for_storage", "task": "Put all six books from the bookcases in the living room into the box on the living room floor."} {"task_index": 24, "task_name": "storing_food", "task": "Put away all the food on the kitchen countertop by storing it inside the kitchen cabinets: move the two boxes of oatmeal, two bags of chips, two bottles of olive oil, and two jars of sugar from the countertop into the kitchen cabinets (each item can go into either cabinet)."} {"task_index": 25, "task_name": "clearing_food_from_table_into_fridge", "task": "Pack the half chicken and the half apple pie from the plates on the breakfast table into the two tupperware containers from the countertop, then put both tupperware containers inside the refrigerator in the kitchen and make sure the refrigerator is closed at the end."} {"task_index": 26, "task_name": "assembling_gift_baskets", "task": "Place one candle, one butter cookie, one piece of Swiss cheese, and one bow from the table into each of the four wicker baskets on the floor in the living room."} {"task_index": 27, "task_name": "sorting_household_items", "task": "From the two baskets on the bedroom floor, take out the items and organize them in the bathroom: place both detergent bottles under the bathroom sink next to each other; put the box of sanitary napkins on the bathroom shelf; set the soap dispenser on the sink; make sure the cup remains on the sink; put both the toothpaste tube and the toothbrush inside the cup."} {"task_index": 28, "task_name": "getting_organized_for_work", "task": "In the bedroom, organize the workspace by keeping the computer under the desk, ensuring the monitor is on the desk, placing the keyboard on the desk next to the monitor, placing the mouse on the desk next to the keyboard, moving the folder from the swivel chair onto the desk next to the mouse, stacking the notebook on top of the folder with the pen on top of the notebook, and positioning the swivel chair next to the desk."} {"task_index": 29, "task_name": "clean_up_your_desk", "task": "In the child's room, clean up the desk: put both folders and both paperback books into the bookcase; put the pencil and both pens into the pencil case and leave the case on the desk; take the stapler out of the bookcase and place it on the desk; move the laptop from the bed onto the desk and close it."} {"task_index": 30, "task_name": "setting_the_fire", "task": "In the living room, place the newspaper from the table into the wood fireplace, then put both pieces of firewood from the floor on top of the newspaper. Use the cigar lighter to ignite any one of the items so that the whole pile catches fire, and then turn the lighter off."} {"task_index": 31, "task_name": "clean_boxing_gloves", "task": "Wash the two dusty boxing gloves from the countertop in the utility room in the washer until they are no longer covered with dust."} {"task_index": 32, "task_name": "wash_a_baseball_cap", "task": "Wash the two baseball caps on the countertop in the utility room using the washer until they are no longer dirty."} {"task_index": 33, "task_name": "wash_dog_toys", "task": "In the utility room, take the two teddy toys, the tennis ball, and the softball out of the cabinet and wash them in the washer so that both teddies are free of dirt and dust, the tennis ball has no debris, and the softball has no dirt."} {"task_index": 34, "task_name": "hanging_pictures", "task": "Pick up the poster from the kitchen countertop and hang it on one of the wall nails in the kitchen."} {"task_index": 35, "task_name": "attach_a_camera_to_a_tripod", "task": "Attach the digital camera to the camera tripod in the bedroom."} {"task_index": 36, "task_name": "clean_a_patio", "task": "Pick up the broom in the garden and sweep the mud off the patio floor until the floor is no longer covered in mud."} {"task_index": 37, "task_name": "clean_a_trumpet", "task": "In the bedroom, pick up the scrub brush from the desk and scrub the cornet (trumpet) on the desk until it's no longer covered in dust."} {"task_index": 38, "task_name": "spraying_for_bugs", "task": "Pick up the pesticide atomizer in the garden and spray insectifuge to fully cover both potted plants in the garden."} {"task_index": 39, "task_name": "spraying_fruit_trees", "task": "In the garden, pick up the pesticide atomizer on the floor and spray pesticide onto both trees until each tree trunk is fully covered."} {"task_index": 40, "task_name": "make_microwave_popcorn", "task": "In the kitchen, take the popcorn bag from the countertop, put it into the microwave, and heat it until the popcorn is cooked so the cooked popcorn ends up inside the bag."} {"task_index": 41, "task_name": "cook_cabbage", "task": "From the kitchen refrigerator, take the cabbage and the chili, dice them on the chopping board with the knife, cook the diced cabbage and diced chili in the frying pan on the stove, and leave the cooked, diced cabbage and cooked, diced chili in the frying pan."} {"task_index": 42, "task_name": "chop_an_onion", "task": "In the kitchen, take the Vidalia onion out of the sink, dice it on the chopping board with the paring knife, put the diced onion into the bowl on the countertop, then place both the paring knife and the chopping board into the sink."} {"task_index": 43, "task_name": "slicing_vegetables", "task": "From the refrigerator in the kitchen, take out the two bell peppers, the two beets, and the zucchini. Then, on either chopping board on the countertop, use the parer to dice all of them so that only diced bell pepper, diced beet, and diced zucchini remain. Make sure the refrigerator is closed when you finish."} {"task_index": 44, "task_name": "chopping_wood", "task": "Chop the four logs on the driveway in the garden into eight half logs using the axe and the chopping block."} {"task_index": 45, "task_name": "cook_hot_dogs", "task": "Take the two hot dogs out of the refrigerator in the kitchen and cook them in the microwave until both are cooked."} {"task_index": 46, "task_name": "cook_bacon", "task": "Take the tray with six slices of bacon out of the refrigerator in the kitchen, cook all six slices in the frying pan on the stove until they're cooked, and make sure the refrigerator is closed when you're done."} {"task_index": 47, "task_name": "freeze_pies", "task": "In the kitchen, take the two apple pies from the plates on the countertop, put each pie into a separate tupperware container taken from the cabinet, place both tupperwares inside the refrigerator, close the refrigerator, and leave them until the pies are frozen."} {"task_index": 48, "task_name": "canning_food", "task": "In the kitchen, open the refrigerator and the cabinet. Take the steak and the pineapple out of the refrigerator and take two bowls from the cabinet. On the chopping board on the countertop, use the carving knife to dice the steak and to dice the pineapple. Put only the diced steak into one bowl and only the diced pineapple into the other bowl - do not mix them. Place both bowls back inside the cabinet, then close the refrigerator and close the cabinet."} {"task_index": 49, "task_name": "make_pizza", "task": "Make a pizza on the cookie sheet in the kitchen: take the grated cheese, the four pieces of pepperoni, and the two mushrooms from their tupperware containers in the refrigerator; chop the Vidalia onion on the chopping board with the knife, and also chop the two whole mushrooms in half; top the pizza dough that's already on the cookie sheet with the cheese, pepperoni, halved mushrooms, and chopped onion; bake it in the oven until it becomes a pizza, and leave the finished pizza on the cookie sheet."} {"task_index": 50, "task_name": "freeze_fruit", "task": "In the kitchen, take the two tupperware containers from the cabinet, put one apple and one strawberry into each container, place both containers in the refrigerator, and leave the fruit frozen."} {"task_index": 51, "task_name": "cook_a_brisket", "task": "Take the brisket from the refrigerator, cook it in a frying pan on the burner, and place the cooked brisket on the chopping board."} {"task_index": 52, "task_name": "sorting_bottles_cans_and_paper", "task": "Sort the recyclables into separate containers: put the bottles together in one bucket, the cans together in another bucket, and the newspaper and magazine together in a third bucket."} {"task_index": 53, "task_name": "tidying_living_room", "task": "In the living room, place the potted plant on the coffee table and put the books and papers into the bookcase."} {"task_index": 54, "task_name": "putting_away_toys", "task": "Pick up all the toy figures from the floor and put them inside the toy boxes."} {"task_index": 55, "task_name": "re_shelving_library_books", "task": "Put the library books and notebooks from the desk into the bookcase."} {"task_index": 56, "task_name": "make_rose_centerpieces", "task": "Place all four roses into the vase and leave the vase on the coffee table."} {"task_index": 57, "task_name": "sweeping_garage", "task": "Use the broom to sweep the dirt from the garage floor until the floor is clean."} {"task_index": 58, "task_name": "stacking_wood", "task": "Stack all of the logs together on the driveway."} {"task_index": 59, "task_name": "organizing_art_supplies", "task": "Put the marker, paintbrush, glue stick, and rubber eraser into the tote, then place the tote on the desk."} {"task_index": 60, "task_name": "scrubbing_bathroom_floor", "task": "Use the scrub brush to scrub the bathroom floor until the floor is clean."} {"task_index": 61, "task_name": "bringing_paper_to_recycling", "task": "Put the paper and newspaper into the recycling bin, then close the recycling bin."} {"task_index": 62, "task_name": "halve_an_egg", "task": "Take the hard-boiled egg from the refrigerator, cut it in half on the cutting board, and leave the egg halves on the plate."} {"task_index": 63, "task_name": "installing_smoke_detectors", "task": "Attach the two smoke detectors to the wall nails."} {"task_index": 64, "task_name": "setting_the_table", "task": "Set the breakfast table with both plates, put one cupcake on each plate, and place a fork and a knife next to each plate."} {"task_index": 65, "task_name": "unloading_the_car", "task": "Open the car, take out the briefcase and satchel, and place them on the floor outside the car."} {"task_index": 66, "task_name": "turning_out_all_lights_before_sleep", "task": "Turn off all of the lights and light switches before sleep."} {"task_index": 67, "task_name": "boxing_food_after_dinner", "task": "Pack the food from the plates into the tupperware container, put the container in the refrigerator, and close the refrigerator."} {"task_index": 68, "task_name": "cleaning_up_branches_and_twigs", "task": "Collect all of the branches and twigs from the garden and put them into the recycling bin."} {"task_index": 69, "task_name": "vacuuming_floors", "task": "Use the vacuum to clean the dirty floor until the floor is no longer covered in dirt."} {"task_index": 70, "task_name": "thawing_frozen_food", "task": "Take the frozen food from the refrigerator, put it in the microwave, and heat it until it is thawed."} {"task_index": 71, "task_name": "clean_your_rusty_garden_tools", "task": "Use the steel wool to clean the rust off the garden tools, then put the tools into the toolbox."} {"task_index": 72, "task_name": "cook_a_frozen_pie", "task": "Take the frozen apple pie from the refrigerator, put it in the oven, and heat it until it is hot and no longer frozen."} {"task_index": 73, "task_name": "organizing_school_stuff", "task": "Put the school supplies into the tote, place the tote on the bed, and keep the folder and notebook next to it."} {"task_index": 74, "task_name": "carrying_out_garden_furniture", "task": "Carry the garden chairs and wheelbarrow out to the lawn."} {"task_index": 75, "task_name": "put_together_a_basic_pruning_kit", "task": "Put the pruner and shears into the toolbox, then close the toolbox."} {"task_index": 76, "task_name": "dispose_of_glass", "task": "Pick up the water glasses and put them into the trash can."} {"task_index": 77, "task_name": "installing_a_modem", "task": "Install the modem by placing it on the cabinet and turning it on."} {"task_index": 78, "task_name": "make_cabinet_doors", "task": "Attach the cabinet door to the cabinet base."} {"task_index": 79, "task_name": "polishing_shoes", "task": "Use the scrub brush to polish both shoes until the stains are removed."} {"task_index": 80, "task_name": "clean_up_broken_glass", "task": "Pick up all of the broken glass pieces and put them into the trash can."} {"task_index": 81, "task_name": "packing_meal_for_delivery", "task": "Pack each wrapped hamburger into a paper bag, then put the paper bags into the storage box."} {"task_index": 82, "task_name": "store_batteries", "task": "Put all of the batteries into the bottom-cabinet drawer, then close the drawer."} {"task_index": 83, "task_name": "store_honey", "task": "Put the jar of honey into the cabinet drawer, then close the drawer."} {"task_index": 84, "task_name": "tidying_bathroom", "task": "Tidy the bathroom by putting the toilet tissue on the toilet, placing the tissue dispenser and soap dish on the countertop, putting the soap in the soap dish, and throwing the cork into the trash can."} {"task_index": 85, "task_name": "putting_dirty_dishes_in_sink", "task": "Put all of the dirty bowls and plates into the kitchen sink."} {"task_index": 86, "task_name": "make_gift_bags_for_baby_showers", "task": "Make baby-shower gift bags by putting a toy die and a wafer into each paper bag."} {"task_index": 87, "task_name": "collecting_aluminum_cans", "task": "Collect all of the soda cans and put them into the ice bucket."} {"task_index": 88, "task_name": "rearrange_your_room", "task": "Rearrange the room by putting the pillows on the bed, moving the chair next to the desk, and placing the tissue dispenser on the nightstand."} {"task_index": 89, "task_name": "installing_a_fax_machine", "task": "Install the fax machine by placing it on the cubicle desk and turning it on."} {"task_index": 90, "task_name": "composting_waste", "task": "Put the food waste into the compost bin."} {"task_index": 91, "task_name": "store_produce", "task": "Take the mangoes and pomegranates from the basket and put them into the refrigerator."} {"task_index": 92, "task_name": "installing_a_scanner", "task": "Install the scanner by turning it on and leaving it on the desk near the laptop."} {"task_index": 93, "task_name": "clean_a_keyboard", "task": "Use the pipe cleaner to clean the keyboard until the stain is removed."} {"task_index": 94, "task_name": "dispose_of_batteries", "task": "Pick up all of the batteries and put them into the trash can."} {"task_index": 95, "task_name": "cook_brussels_sprouts", "task": "Take the brussels sprouts from the refrigerator, cut them on the cutting board, put the pieces onto the baking sheet, and cook them in the oven."} {"task_index": 96, "task_name": "cook_broccolini", "task": "Cook the broccolini in the frying pan on the stove."} {"task_index": 97, "task_name": "setup_a_bar_for_a_cocktail_party", "task": "Set up the bar for a cocktail party by placing the wineglasses, wine bottle, corkscrew, soda cans, and ice bucket on the bar."} {"task_index": 98, "task_name": "laying_tile_floors", "task": "Lay the ceramic tiles on the floor next to each other."} {"task_index": 99, "task_name": "sorting_books_on_shelf", "task": "Sort the comic books, notebooks, and hardbacks on the bookcase shelves so the books of each type are grouped together."}分类
烹饪与食品加工（约 20）
切/炒/烤/微波、装罐冷冻等：
make_pizza、cook_cabbage、cook_bacon、cook_hot_dogs、cook_a_brisket、cook_brussels_sprouts、cook_broccolini、cook_a_frozen_pie、make_microwave_popcorn、chop_an_onion、slicing_vegetables、halve_an_egg、can_meat、canning_food、freeze_pies、freeze_fruit、thawing_frozen_food、boxing_food_after_dinner、clearing_food_from_table_into_fridge、preparing_lunch_box、packing_meal_for_delivery收纳整理（约 25）
把东西归位、装箱、摆桌：
storing_food、putting_dishes_away_after_cleaning、sorting_household_items、sorting_vegetables、sorting_books_on_shelf、boxing_books_up_for_storage、assembling_gift_baskets、clean_up_your_desk、getting_organized_for_work、organizing_school_stuff、organizing_art_supplies、re_shelving_library_books、setting_the_table、tidying_bedroom/living_room/bathroom、putting_away_toys、picking_up_toys、collecting_childrens_toys、putting_shoes_on_rack、store_batteries/honey/produce、rearrange_your_room、rearranging_kitchen_furniture、outfit_a_basic_toolbox、put_together_a_basic_pruning_kit等清洁打扫（约 12）
扫地/吸尘/擦洗/洗衣：
vacuuming_floors、sweeping_garage、scrubbing_bathroom_floor、clean_a_patio、clean_a_keyboard、clean_a_trumpet、polishing_shoes、clean_boxing_gloves、wash_a_baseball_cap、wash_dog_toys、clean_your_rusty_garden_tools、putting_dirty_dishes_in_sink、cleaning_up_plates_and_food搬运与跨房间物流（约 12）
车库/花园 ↔ 室内：
loading_the_car、unloading_the_car、carrying_in_groceries、bringing_in_wood、bringing_water、moving_boxes_to_storage、carrying_out_garden_furniture、bringing_paper_to_recycling、stacking_wood、chopping_wood、cleaning_up_branches_and_twigs垃圾与回收（约 8）
picking_up_trash、dispose_of_batteries、dispose_of_glass、clean_up_broken_glass、collecting_aluminum_cans、sorting_bottles_cans_and_paper、composting_waste安装/装配/开关设备（约 10）
installing_a_modem/fax_machine/scanner、installing_smoke_detectors、attach_a_camera_to_a_tripod、make_cabinet_doors、laying_tile_floors、hanging_pictures、turning_on_radio、turning_out_all_lights_before_sleep庭院与户外维护（约 6）
spraying_for_bugs、spraying_fruit_trees、setting_mousetraps、hiding_Easter_eggs（花园场景）等节日布置与社交摆设（约 6）
putting_away_Halloween_decorations、putting_up_Christmas_decorations_inside、make_rose_centerpieces、make_gift_bags_for_baby_showers、setup_a_bar_for_a_cocktail_party、set_up_a_coffee_station_in_your_kitchen、setting_the_fire
整体特点：偏 BEHAVIOR 式长程家务------多物体、多步骤、开合柜门/冰箱、跨房间导航；不是单步抓取 benchmark。数据量上，收纳类（礼物篮、装箱、清桌）和烹饪长任务往往更长；开关设备、简单安装类通常更短（如 turning_on_radio 最短）。
数据量分布
episode 数量完全均衡（每任务 200 条），但时长差异极大：单条 episode 平均 10,546 帧（约 5.9 分钟），中位数 10,051 帧，最短 148 帧，最长 45,761 帧（约 25 分钟）。
按任务累计时长看，最重的是 assembling_gift_baskets（48.3 h，平均 26,060 帧/条）、boxing_books_up_for_storage（44.9 h）、canning_food（42.5 h）、clean_up_your_desk（39.7 h）；最轻的是 turning_on_radio（4.0 h，平均 2,150 帧）、hanging_pictures（4.4 h）、vacuuming_floors（4.5 h）、installing_a_modem（4.5 h）。也就是说帧数上任务间有约 12 倍的不平衡，如果按帧采样训练需要做重加权。
bash
task_index,n_ep,frames,mean_len,min_len,max_len,n_inst,task_name,hours 26,200,5212011,26060.055,18862,45761,200,assembling_gift_baskets,48.25936111111111 23,200,4845500,24227.5,13295,32319,200,boxing_books_up_for_storage,44.86574074074074 48,200,4595098,22975.49,15237,38589,200,canning_food,42.5472037037037 29,200,4283575,21417.875,13250,31123,200,clean_up_your_desk,39.66273148148149 24,200,3973824,19869.12,15982,26330,200,storing_food,36.794666666666664 13,200,3845274,19226.37,9296,22761,200,loading_the_car,35.60438888888889 49,200,3837385,19186.925,10867,27860,200,make_pizza,35.531342592592594 21,200,3837265,19186.325,12726,36383,200,collecting_childrens_toys,35.53023148148148 7,200,3778110,18890.55,7712,32376,200,picking_up_toys,34.9825 64,200,3561701,17808.505,11859,23204,200,setting_the_table,32.978712962962966 58,200,3187868,15939.34,8533,28090,200,stacking_wood,29.517296296296294 27,200,3161551,15807.755,11256,31112,200,sorting_household_items,29.273620370370374 28,200,3134202,15671.01,10078,28936,200,getting_organized_for_work,29.02038888888889 95,200,3132354,15661.77,10214,24408,200,cook_brussels_sprouts,29.00327777777778 71,200,3031582,15157.91,8972,27110,200,clean_your_rusty_garden_tools,28.070203703703704 43,200,2968988,14844.94,7358,21338,200,slicing_vegetables,27.490629629629627 16,200,2919245,14596.225,9376,19700,200,moving_boxes_to_storage,27.030046296296298 73,200,2918380,14591.9,9967,27844,200,organizing_school_stuff,27.022037037037034 94,200,2885678,14428.39,7669,25919,200,dispose_of_batteries,26.71924074074074 98,200,2870192,14350.96,10914,18998,200,laying_tile_floors,26.57585185185185 14,200,2854961,14274.805,11179,20170,200,carrying_in_groceries,26.434824074074076 41,200,2828962,14144.81,7636,19654,200,cook_cabbage,26.194092592592593 2,200,2757612,13788.06,148,18894,200,putting_away_Halloween_decorations,25.53344444444444 9,200,2743752,13718.76,9718,19885,200,putting_up_Christmas_decorations_inside,25.40511111111111 3,200,2739238,13696.19,7945,18758,200,cleaning_up_plates_and_food,25.363314814814814 15,200,2707131,13535.655,8366,17719,200,bringing_in_wood,25.066027777777776 97,200,2683779,13418.895,9493,19404,200,setup_a_bar_for_a_cocktail_party,24.849805555555555 25,200,2613632,13068.16,9880,19252,200,clearing_food_from_table_into_fridge,24.200296296296298 84,200,2600630,13003.15,8705,20766,200,tidying_bathroom,24.079907407407408 88,200,2570991,12854.955,8548,18262,200,rearrange_your_room,23.80547222222222 50,200,2523756,12618.78,9091,19923,200,freeze_fruit,23.36811111111111 53,200,2513176,12565.88,7651,20091,200,tidying_living_room,23.27014814814815 68,200,2505414,12527.07,7720,16680,200,cleaning_up_branches_and_twigs,23.19827777777778 47,200,2491046,12455.23,9615,29741,200,freeze_pies,23.06524074074074 85,200,2429716,12148.58,9248,15554,200,putting_dirty_dishes_in_sink,22.497370370370373 36,200,2414162,12070.81,8625,22174,200,clean_a_patio,22.35335185185185 20,200,2380740,11903.7,6219,19282,200,sorting_vegetables,22.04388888888889 4,200,2369415,11847.075,8031,17135,200,can_meat,21.939027777777778 65,200,2264686,11323.43,7899,18351,200,unloading_the_car,20.969314814814815 54,200,2259351,11296.755,7324,18428,200,putting_away_toys,20.919916666666666 75,200,2252895,11264.475,6608,16169,200,put_together_a_basic_pruning_kit,20.86013888888889 33,200,2244560,11222.8,8768,25030,200,wash_dog_toys,20.782962962962966 61,200,2242852,11214.26,7591,15028,200,bringing_paper_to_recycling,20.76714814814815 74,200,2211761,11058.805,8489,13946,200,carrying_out_garden_furniture,20.47926851851852 18,200,2207489,11037.445,4634,24817,200,tidying_bedroom,20.43971296296296 11,200,2190686,10953.43,7864,16202,200,putting_dishes_away_after_cleaning,20.28412962962963 44,200,2150397,10751.985,5713,18689,200,chopping_wood,19.91108333333333 79,200,2147597,10737.985,7293,15762,200,polishing_shoes,19.88515740740741 19,200,2127594,10637.97,5992,19604,200,outfit_a_basic_toolbox,19.699944444444444 52,200,2052767,10263.835,6326,18260,200,sorting_bottles_cans_and_paper,19.00710185185185 87,200,2040575,10202.875,5915,15557,200,collecting_aluminum_cans,18.894212962962964 5,200,2039222,10196.11,5993,25521,200,setting_mousetraps,18.881685185185184 66,200,2001222,10006.11,7349,13889,200,turning_out_all_lights_before_sleep,18.529833333333332 86,200,1930184,9650.92,5923,15823,200,make_gift_bags_for_baby_showers,17.872074074074074 55,200,1905686,9528.43,4962,14278,200,re_shelving_library_books,17.645240740740743 91,200,1904471,9522.355,6349,15453,200,store_produce,17.633990740740742 17,200,1887709,9438.545,5779,14746,200,bringing_water,17.478787037037037 76,200,1839066,9195.33,5807,14195,200,dispose_of_glass,17.028388888888887 45,200,1828971,9144.855,6517,22410,200,cook_hot_dogs,16.934916666666666 30,200,1823626,9118.13,5681,15066,200,setting_the_fire,16.885425925925926 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46,200,1535909,7679.545,6120,11487,200,cook_bacon,14.221379629629629 6,200,1523945,7619.725,3318,16405,200,hiding_Easter_eggs,14.11060185185185 51,200,1466999,7334.995,4025,10657,200,cook_a_brisket,13.583324074074074 83,200,1353368,6766.84,2861,10097,200,store_honey,12.531185185185187 67,200,1339543,6697.715,4881,10263,200,boxing_food_after_dinner,12.403175925925925 38,200,1295895,6479.475,4104,11966,200,spraying_for_bugs,11.999027777777778 42,200,1279960,6399.8,3731,11856,200,chop_an_onion,11.851481481481482 62,200,1275408,6377.04,3497,9099,200,halve_an_egg,11.809333333333333 10,200,1253243,6266.215,2739,10335,200,set_up_a_coffee_station_in_your_kitchen,11.604101851851853 59,200,1238873,6194.365,4031,9976,200,organizing_art_supplies,11.471046296296297 37,200,1061432,5307.16,3089,7759,200,clean_a_trumpet,9.828074074074074 1,200,1053550,5267.75,1719,12195,200,picking_up_trash,9.755092592592593 96,200,923552,4617.76,2443,7255,200,cook_broccolini,8.551407407407407 56,200,906431,4532.155,3088,8067,200,make_rose_centerpieces,8.392879629629629 57,200,894606,4473.03,2982,8047,200,sweeping_garage,8.283388888888888 92,200,851707,4258.535,1287,8688,200,installing_a_scanner,7.886175925925926 89,200,815378,4076.89,2031,8584,200,installing_a_fax_machine,7.549796296296297 35,200,782315,3911.575,1851,7042,200,attach_a_camera_to_a_tripod,7.243657407407408 93,200,775213,3876.065,1116,7046,200,clean_a_keyboard,7.177898148148149 90,200,727724,3638.62,2673,5440,200,composting_waste,6.738185185185185 78,200,688505,3442.525,1938,6668,200,make_cabinet_doors,6.375046296296297 40,200,647555,3237.775,1584,4853,200,make_microwave_popcorn,5.99587962962963 60,200,630766,3153.83,1066,5656,200,scrubbing_bathroom_floor,5.840425925925926 63,200,513754,2568.77,1602,4653,200,installing_smoke_detectors,4.756981481481482 77,200,482597,2412.985,1527,4952,200,installing_a_modem,4.468490740740741 69,200,482357,2411.785,1211,4561,200,vacuuming_floors,4.466268518518519 34,200,477483,2387.415,993,8337,200,hanging_pictures,4.421138888888889 0,200,429928,2149.64,970,4353,200,turning_on_radio,3.9808148148148144