Datasets:

Lo6yu
/

egocentric_dataset

package_id stringclasses 8 values	scenario_name stringclasses 8 values	subtask_id stringlengths 14 14	subtask_label_en stringlengths 18 53	subtask_description_en stringlengths 19 78	phase stringlengths 4 31	task_description_en stringclasses 8 values	scene_description_en stringclasses 8 values	start_rgb_frame int64 99 17.9k	end_rgb_frame int64 548 18.3k	peak_rgb_frame int64 345 18k	duration_s float64 10 15	active_hands stringclasses 3 values	objects stringlengths 9 46	event_count int64 1 27	interaction_count int64 1 27	rgb_clip_path stringlengths 77 88	depth_clip_path stringlengths 87 98	clip_status stringclasses 2 values	clip_expected_frames int64 300 450	clip_written_frames int64 300 450	keyframes_dir stringlengths 73 84	semantic_subtasks_dir stringclasses 8 values
washing-machine-laundry	Washing Machine Laundry	subtask_000001	Carry the laundry basin toward the washer area	Carry the laundry basin toward the washer area.	carry_laundry_basin	Use a bucket of laundry and a washing machine to wash clothes.	Egocentric RGB-D recording of a person preparing and loading laundry into a washing machine.	440	889	731	15	["left", "right"]	["green_laundry_basin", "clothing_bundle"]	10	10	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000001_rgb.mp4	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000001_depth_preview.mp4	generated	450	450	packages/washing-machine-laundry/analysis/semantic_subtasks/keyframes/subtask_000001	packages/washing-machine-laundry/analysis/semantic_subtasks
washing-machine-laundry	Washing Machine Laundry	subtask_000002	Pick up and handle the laundry detergent pod box	Pick up and handle the laundry detergent pod box.	handle_detergent_box	Use a bucket of laundry and a washing machine to wash clothes.	Egocentric RGB-D recording of a person preparing and loading laundry into a washing machine.	890	1,339	1,102	15	["left", "right"]	["detergent_pod_box"]	20	20	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000002_rgb.mp4	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000002_depth_preview.mp4	generated	450	450	packages/washing-machine-laundry/analysis/semantic_subtasks/keyframes/subtask_000002	packages/washing-machine-laundry/analysis/semantic_subtasks
washing-machine-laundry	Washing Machine Laundry	subtask_000003	Place the detergent pod box on the nearby shelf	Place the detergent pod box on the nearby shelf.	place_detergent_box	Use a bucket of laundry and a washing machine to wash clothes.	Egocentric RGB-D recording of a person preparing and loading laundry into a washing machine.	1,340	1,741	1,507	13.4	["left", "right"]	["detergent_pod_box", "shelf"]	5	5	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000003_rgb.mp4	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000003_depth_preview.mp4	generated	402	402	packages/washing-machine-laundry/analysis/semantic_subtasks/keyframes/subtask_000003	packages/washing-machine-laundry/analysis/semantic_subtasks
washing-machine-laundry	Washing Machine Laundry	subtask_000004	Open the laundry area sliding door	Open the laundry area sliding door.	open_sliding_door	Use a bucket of laundry and a washing machine to wash clothes.	Egocentric RGB-D recording of a person preparing and loading laundry into a washing machine.	1,742	2,143	1,856	13.4	["left", "right"]	["glass_sliding_door"]	7	7	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000004_rgb.mp4	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000004_depth_preview.mp4	generated	402	402	packages/washing-machine-laundry/analysis/semantic_subtasks/keyframes/subtask_000004	packages/washing-machine-laundry/analysis/semantic_subtasks
washing-machine-laundry	Washing Machine Laundry	subtask_000005	Lift clothing from the basin near the washing machine	Lift clothing from the basin near the washing machine.	lift_clothing_bundle	Use a bucket of laundry and a washing machine to wash clothes.	Egocentric RGB-D recording of a person preparing and loading laundry into a washing machine.	2,314	2,763	2,526	15	["left", "right"]	["clothing_bundle", "washing_machine_opening"]	6	6	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000005_rgb.mp4	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000005_depth_preview.mp4	generated	450	450	packages/washing-machine-laundry/analysis/semantic_subtasks/keyframes/subtask_000005	packages/washing-machine-laundry/analysis/semantic_subtasks
washing-machine-laundry	Washing Machine Laundry	subtask_000006	Operate the washing machine control panel	Operate the washing machine control panel.	operate_washer_panel	Use a bucket of laundry and a washing machine to wash clothes.	Egocentric RGB-D recording of a person preparing and loading laundry into a washing machine.	2,764	3,063	2,773	10	["left"]	["washing_machine_control_panel"]	1	1	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000006_rgb.mp4	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000006_depth_preview.mp4	generated	300	300	packages/washing-machine-laundry/analysis/semantic_subtasks/keyframes/subtask_000006	packages/washing-machine-laundry/analysis/semantic_subtasks
washing-machine-laundry	Washing Machine Laundry	subtask_000007	Close or adjust the laundry area sliding door	Close or adjust the laundry area sliding door.	close_or_adjust_sliding_door	Use a bucket of laundry and a washing machine to wash clothes.	Egocentric RGB-D recording of a person preparing and loading laundry into a washing machine.	3,412	3,861	3,658	15	["left", "right"]	["glass_sliding_door"]	5	5	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000007_rgb.mp4	packages/washing-machine-laundry/analysis/semantic_subtasks/clips/subtask_000007_depth_preview.mp4	generated	450	450	packages/washing-machine-laundry/analysis/semantic_subtasks/keyframes/subtask_000007	packages/washing-machine-laundry/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000001	Move a small cushioned stool beside the sofa	Move a small cushioned stool beside the sofa.	move_stool	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	394	815	595	14.066667	["left", "right"]	["cushioned_stool", "sofa"]	8	8	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000001_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000001_depth_preview.mp4	generated	422	422	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000001	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000002	Pick up a small green container from the floor area	Pick up a small green container from the floor area.	pick_green_container	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	838	1,255	1,022	13.933333	["left"]	["green_container"]	3	3	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000002_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000002_depth_preview.mp4	generated	418	418	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000002	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000003	Collect loose trash and small items into the basin	Collect loose trash and small items into the basin.	collect_items_into_basin	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	1,434	1,883	1,698	15	["left"]	["green_basin", "loose_items"]	3	3	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000003_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000003_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000003	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000004	Pick up a small green object near the sofa	Pick up a small green object near the sofa.	pick_small_green_object	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	2,611	2,934	2,772	10.8	["left"]	["small_green_object", "sofa"]	2	2	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000004_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000004_depth_preview.mp4	generated	324	324	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000004	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000005	Fold a gray cloth on the sofa	Fold a gray cloth on the sofa.	fold_gray_cloth	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	2,978	3,427	3,329	15	["left", "right"]	["gray_cloth", "sofa"]	3	3	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000005_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000005_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000005	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000006	Handle a black cylindrical device	Handle a black cylindrical device.	handle_black_cylindrical_device	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	3,428	3,877	3,684	15	["left"]	["black_cylindrical_device"]	14	14	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000006_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000006_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000006	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000007	Open the drawer and place an item inside	Open the drawer and place an item inside.	open_drawer_place_item	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	3,878	4,327	4,030	15	["left"]	["drawer", "small_container"]	5	5	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000007_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000007_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000007	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000008	Gather cables and small electronics on the table	Gather cables and small electronics on the table.	gather_cables_electronics	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	4,710	5,159	5,000	15	["left", "right"]	["cables", "small_electronics"]	4	4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000008_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000008_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000008	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000009	Fold a black garment on the sofa	Fold a black garment on the sofa.	fold_black_garment	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	5,160	5,609	5,346	15	["left", "right"]	["black_garment", "sofa"]	5	5	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000009_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000009_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000009	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000010	Inspect or coil a black charging puck	Inspect or coil a black charging puck.	handle_charging_puck	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	5,610	5,909	5,682	10	["left"]	["black_charging_puck", "cable"]	2	2	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000010_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000010_depth_preview.mp4	generated	300	300	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000010	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000011	Pack black clothing into the backpack	Pack black clothing into the backpack.	pack_black_clothing	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	6,138	6,587	6,389	15	["left", "right"]	["backpack", "black_clothing"]	6	6	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000011_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000011_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000011	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000012	Position the blue backpack on the sofa	Position the blue backpack on the sofa.	position_blue_backpack	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	6,616	6,925	6,770	10.333333	["left", "right"]	["blue_backpack", "sofa"]	2	2	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000012_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000012_depth_preview.mp4	generated	310	310	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000012	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000013	Adjust and close the backpack opening	Adjust and close the backpack opening.	adjust_backpack	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	6,926	7,375	7,159	15	["left", "right"]	["blue_backpack"]	8	8	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000013_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000013_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000013	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000014	Move the backpack away from the sofa	Move the backpack away from the sofa.	move_backpack	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	7,678	8,127	7,920	15	["left", "right"]	["blue_backpack"]	6	6	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000014_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000014_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000014	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000015	Open a drawer containing paper rolls	Open a drawer containing paper rolls.	open_paper_roll_drawer	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	8,192	8,641	8,485	15	["left", "right"]	["drawer", "paper_rolls"]	15	15	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000015_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000015_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000015	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000016	Move a pack of household paper rolls	Move a pack of household paper rolls.	move_paper_roll_pack	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	8,642	8,941	8,646	10	["left"]	["paper_roll_pack"]	1	1	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000016_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000016_depth_preview.mp4	generated	300	300	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000016	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000017	Restock paper rolls in the drawer	Restock paper rolls in the drawer.	restock_paper_rolls	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	9,257	9,706	9,438	15	["left", "right"]	["paper_rolls", "drawer"]	8	8	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000017_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000017_depth_preview.mp4	generated	450	450	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000017	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000018	Pick up a racket-shaped household tool	Pick up a racket-shaped household tool.	pick_racket_tool	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	9,707	10,099	9,871	13.1	["left", "right"]	["racket_shaped_tool", "green_basin"]	5	5	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000018_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000018_depth_preview.mp4	generated	393	393	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000018	packages/tidy-living-room/analysis/semantic_subtasks
tidy-living-room	Tidy Living Room	subtask_000019	Place snack packaging and small trash into the basin	Place snack packaging and small trash into the basin.	collect_packaging_into_basin	Tidy a living-room seating area by collecting small objects, folding cloth items, packing a bag, and restocking paper rolls.	Egocentric RGB-D recording around a sofa, side table, drawer, basin, backpack, small devices, cloth items, and household paper rolls.	10,100	10,399	10,295	10	["left"]	["green_basin", "snack_packaging"]	1	1	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000019_rgb.mp4	packages/tidy-living-room/analysis/semantic_subtasks/clips/subtask_000019_depth_preview.mp4	generated	300	300	packages/tidy-living-room/analysis/semantic_subtasks/keyframes/subtask_000019	packages/tidy-living-room/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000001	Open a plastic bag in the bedroom	Open a plastic bag in the bedroom.	open_plastic_bag	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	609	1,030	793	14.066667	["left"]	["plastic_bag"]	4	4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000001_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000001_depth_preview.mp4	generated	422	422	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000001	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000002	Pick up black pants from the bed	Pick up black pants from the bed.	pick_black_pants	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	1,486	1,933	1,670	14.933333	["left", "right"]	["black_pants", "bed"]	3	3	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000002_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000002_depth_preview.mp4	generated	448	448	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000002	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000003	Lay black pants flat on the bed	Lay black pants flat on the bed.	lay_black_pants	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	1,934	2,383	2,091	15	["left"]	["black_pants", "bed"]	5	5	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000003_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000003_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000003	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000004	Gather black clothing from the bed	Gather black clothing from the bed.	gather_black_clothing	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	2,384	2,833	2,540	15	["left", "right"]	["black_clothing", "bed"]	5	5	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000004_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000004_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000004	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000005	Fold black clothing by hand	Fold black clothing by hand.	fold_black_clothing	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	2,834	3,133	2,983	10	["left"]	["black_clothing"]	1	1	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000005_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000005_depth_preview.mp4	generated	300	300	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000005	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000006	Continue folding the black garment	Continue folding the black garment.	continue_folding_black_garment	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	3,138	3,437	3,288	10	["left"]	["black_garment"]	1	1	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000006_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000006_depth_preview.mp4	generated	300	300	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000006	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000007	Place folded black garment on the clothing stack	Place folded black garment on the clothing stack.	place_folded_black_garment	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	3,615	4,064	3,883	15	["left", "right"]	["folded_garment", "clothing_stack"]	2	2	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000007_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000007_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000007	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000008	Fold another black clothing item	Fold another black clothing item.	fold_second_black_item	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	4,065	4,364	4,087	10	["left"]	["black_clothing"]	1	1	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000008_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000008_depth_preview.mp4	generated	300	300	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000008	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000009	Pick up a white garment	Pick up a white garment.	pick_white_garment	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	4,542	4,985	4,720	14.8	["left"]	["white_garment"]	3	3	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000009_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000009_depth_preview.mp4	generated	444	444	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000009	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000010	Fold a white garment	Fold a white garment.	fold_white_garment	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	4,986	5,435	5,287	15	["left", "right"]	["white_garment"]	9	9	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000010_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000010_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000010	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000011	Spread and inspect a white top	Spread and inspect a white top.	spread_white_top	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	5,436	5,885	5,568	15	["left", "right"]	["white_top"]	5	5	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000011_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000011_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000011	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000012	Fold the white top	Fold the white top.	fold_white_top	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	5,886	6,335	6,077	15	["left", "right"]	["white_top"]	4	4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000012_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000012_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000012	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000013	Pick up a patterned or light garment	Pick up a patterned or light garment.	pick_light_garment	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	6,519	6,968	6,799	15	["left", "right"]	["light_garment"]	2	2	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000013_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000013_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000013	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000014	Move folded clothes into a stack	Move folded clothes into a stack.	stack_folded_clothes	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	6,969	7,323	7,164	11.833333	["left"]	["folded_clothes"]	3	3	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000014_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000014_depth_preview.mp4	generated	355	355	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000014	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000015	Press and align folded clothes	Press and align folded clothes.	align_folded_clothes	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	7,324	7,773	7,572	15	["left"]	["folded_clothes"]	7	7	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000015_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000015_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000015	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000016	Carry folded clothing away from the bed	Carry folded clothing away from the bed.	carry_folded_clothing	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	7,774	8,128	7,824	11.833333	["left"]	["folded_clothing"]	3	3	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000016_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000016_depth_preview.mp4	generated	355	355	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000016	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000017	Place folded clothes on the shelf or cabinet area	Place folded clothes on the shelf or cabinet area.	place_folded_clothes	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	8,144	8,443	8,294	10	["left"]	["folded_clothes", "shelf"]	1	1	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000017_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000017_depth_preview.mp4	generated	300	300	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000017	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000018	Fold a small white item	Fold a small white item.	fold_small_white_item	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	8,467	8,916	8,696	15	["left"]	["small_white_item"]	8	8	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000018_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000018_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000018	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000019	Pull or adjust bed sheet edge	Pull or adjust bed sheet edge.	adjust_bed_sheet_edge	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	8,998	9,404	9,244	13.566667	["left", "right"]	["bed_sheet"]	4	4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000019_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000019_depth_preview.mp4	generated	407	407	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000019	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000020	Pick up personal item near the bed	Pick up personal item near the bed.	pick_personal_item	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	9,455	9,904	9,772	15	["left"]	["personal_item"]	3	3	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000020_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000020_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000020	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000021	Move bedding or pillow near the bed edge	Move bedding or pillow near the bed edge.	move_bedding_pillow	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	9,905	10,354	10,309	15	["left", "right"]	["bedding", "pillow"]	5	5	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000021_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000021_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000021	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000022	Smooth the bed sheet	Smooth the bed sheet.	smooth_bed_sheet	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	10,355	10,804	10,637	15	["left", "right"]	["bed_sheet"]	16	16	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000022_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000022_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000022	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000023	Adjust a pillow on the bed	Adjust a pillow on the bed.	adjust_pillow	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	10,805	11,254	10,990	15	["left", "right"]	["pillow", "bed"]	11	11	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000023_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000023_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000023	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000024	Pick up hair dryer from the bedside area	Pick up hair dryer from the bedside area.	pick_hair_dryer	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	11,255	11,704	11,623	15	["left", "right"]	["hair_dryer"]	7	7	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000024_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000024_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000024	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000025	Handle hair dryer and cable	Handle hair dryer and cable.	handle_hair_dryer_cable	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	11,705	12,154	11,842	15	["left", "right"]	["hair_dryer", "cable"]	27	27	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000025_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000025_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000025	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000026	Pick up a blue bag or pouch	Pick up a blue bag or pouch.	pick_blue_bag	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	12,568	13,017	12,936	15	["left"]	["blue_bag"]	12	12	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000026_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000026_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000026	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000027	Handle a small white box or package	Handle a small white box or package.	handle_white_package	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	13,018	13,460	13,168	14.766667	["left", "right"]	["white_package"]	4	4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000027_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000027_depth_preview.mp4	generated	443	443	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000027	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000028	Fold a small light-colored cloth	Fold a small light-colored cloth.	fold_small_cloth	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	13,461	13,910	13,634	15	["left", "right"]	["light_cloth"]	18	18	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000028_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000028_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000028	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000029	Adjust pants or dark garment near the bed	Adjust pants or dark garment near the bed.	adjust_dark_garment	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	13,911	14,360	14,238	15	["left", "right"]	["dark_garment"]	11	11	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000029_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000029_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000029	packages/tidy-bedroom/analysis/semantic_subtasks
tidy-bedroom	Tidy Bedroom	subtask_000030	Open a small bottle	Open a small bottle.	open_small_bottle	Tidy a bedroom by folding clothes, arranging bedding, and putting items away.	Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.	14,361	14,810	14,510	15	["left"]	["small_bottle"]	3	3	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000030_rgb.mp4	packages/tidy-bedroom/analysis/semantic_subtasks/clips/subtask_000030_depth_preview.mp4	generated	450	450	packages/tidy-bedroom/analysis/semantic_subtasks/keyframes/subtask_000030	packages/tidy-bedroom/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000001	Pick up dustpan and broom	Pick up dustpan and broom.	pick_dustpan_broom	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	660	1,109	996	15	["left"]	["dustpan", "broom"]	10	10	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000001_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000001_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000001	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000002	Sweep debris into the dustpan	Sweep debris into the dustpan.	sweep_into_dustpan	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	1,203	1,652	1,385	15	["left", "right"]	["broom", "dustpan", "floor"]	5	5	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000002_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000002_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000002	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000003	Continue sweeping near the table and chair	Continue sweeping near the table and chair.	sweep_near_table	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	1,653	2,102	1,826	15	["left"]	["broom", "dustpan", "chair"]	6	6	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000003_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000003_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000003	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000004	Pick up small trash while cleaning	Pick up small trash while cleaning.	pick_small_trash	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	2,103	2,420	2,196	10.6	["left"]	["small_trash"]	2	2	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000004_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000004_depth_preview.mp4	generated	318	318	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000004	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000005	Reposition dustpan and broom near the cleaning area	Reposition dustpan and broom near the cleaning area.	reposition_sweeping_tools	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	2,605	3,054	2,998	15	["left", "right"]	["dustpan", "broom"]	11	11	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000005_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000005_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000005	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000006	Hold and adjust the sweeping tool handles	Hold and adjust the sweeping tool handles.	adjust_sweeping_handles	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	3,163	3,594	3,329	14.4	["left"]	["broom", "dustpan"]	3	3	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000006_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000006_depth_preview.mp4	generated	432	432	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000006	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000007	Open the sliding door to access the cleaning area	Open the sliding door to access the cleaning area.	open_sliding_door	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	3,595	4,044	3,730	15	["left"]	["sliding_door"]	7	7	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000007_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000007_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000007	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000008	Pick up the mop near the floor cleaning area	Pick up the mop near the floor cleaning area.	pick_mop	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	4,135	4,584	4,343	15	["left"]	["mop", "floor_cleaning_area"]	6	6	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000008_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000008_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000008	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000009	Adjust mop head near the cleaning station	Adjust mop head near the cleaning station.	adjust_mop_head	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	4,585	5,034	4,841	15	["left", "right"]	["mop_head"]	12	12	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000009_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000009_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000009	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000010	Mop the floor near the doorway	Mop the floor near the doorway.	mop_near_doorway	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	5,035	5,484	5,216	15	["left", "right"]	["mop", "floor"]	10	10	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000010_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000010_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000010	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000011	Mop around the stool and open area	Mop around the stool and open area.	mop_around_stool	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	5,485	5,934	5,653	15	["left", "right"]	["mop", "stool", "floor"]	6	6	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000011_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000011_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000011	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000012	Grip and reposition the mop handle	Grip and reposition the mop handle.	reposition_mop_handle	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	7,143	7,442	7,293	10	["left"]	["mop_handle"]	1	1	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000012_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000012_depth_preview.mp4	generated	300	300	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000012	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000013	Mop under or beside the table	Mop under or beside the table.	mop_under_table	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	9,607	10,056	9,894	15	["right"]	["mop", "table"]	12	12	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000013_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000013_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000013	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000014	Move a chair to clear floor space	Move a chair to clear floor space.	move_chair	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	10,057	10,397	10,179	11.366667	["left", "right"]	["chair"]	9	9	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000014_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000014_depth_preview.mp4	generated	341	341	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000014	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000015	Mop around the dining chair	Mop around the dining chair.	mop_around_chair	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	10,398	10,847	10,556	15	["left", "right"]	["mop", "chair"]	5	5	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000015_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000015_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000015	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000016	Move another chair beside the table	Move another chair beside the table.	move_second_chair	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	10,848	11,147	10,926	10	["left", "right"]	["chair", "table"]	12	12	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000016_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000016_depth_preview.mp4	generated	300	300	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000016	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000017	Adjust the sliding door while cleaning	Adjust the sliding door while cleaning.	adjust_sliding_door	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	11,762	12,211	11,934	15	["left"]	["sliding_door"]	3	3	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000017_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000017_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000017	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000018	Mop along the wall	Mop along the wall.	mop_along_wall	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	12,212	12,661	12,508	15	["left", "right"]	["mop", "wall", "floor"]	9	9	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000018_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000018_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000018	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000019	Continue mopping the wall-side floor	Continue mopping the wall-side floor.	continue_wall_side_mopping	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	12,662	13,111	12,871	15	["left", "right"]	["mop", "floor"]	14	14	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000019_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000019_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000019	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000020	Pick up a plaid cloth from the floor	Pick up a plaid cloth from the floor.	pick_plaid_cloth	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	13,158	13,607	13,388	15	["left", "right"]	["plaid_cloth"]	8	8	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000020_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000020_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000020	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000021	Fold or gather the plaid cloth	Fold or gather the plaid cloth.	gather_plaid_cloth	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	13,844	14,143	13,994	10	["left"]	["plaid_cloth"]	1	1	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000021_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000021_depth_preview.mp4	generated	300	300	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000021	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000022	Shake or reposition the plaid cloth	Shake or reposition the plaid cloth.	reposition_plaid_cloth	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	14,537	14,986	14,847	15	["left"]	["plaid_cloth"]	6	6	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000022_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000022_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000022	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000023	Lay the plaid cloth on the sofa	Lay the plaid cloth on the sofa.	place_plaid_cloth_on_sofa	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	14,987	15,436	15,137	15	["left", "right"]	["plaid_cloth", "sofa"]	9	9	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000023_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000023_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000023	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000024	Return to dustpan and broom	Return to dustpan and broom.	return_to_sweeping_tools	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	15,509	15,958	15,742	15	["left", "right"]	["dustpan", "broom"]	15	15	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000024_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000024_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000024	packages/sweep-and-mop-floor/analysis/semantic_subtasks
sweep-and-mop-floor	Sweep and Mop Floor	subtask_000025	Hold dustpan and broom to finish cleaning	Hold dustpan and broom to finish cleaning.	finish_with_sweeping_tools	Sweep and mop the floor using household cleaning tools.	Egocentric RGB-D recording of a person sweeping, mopping, moving chairs, and handling cleaning tools around a living area.	15,959	16,408	16,084	15	["left"]	["dustpan", "broom"]	6	6	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000025_rgb.mp4	packages/sweep-and-mop-floor/analysis/semantic_subtasks/clips/subtask_000025_depth_preview.mp4	generated	450	450	packages/sweep-and-mop-floor/analysis/semantic_subtasks/keyframes/subtask_000025	packages/sweep-and-mop-floor/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000001	Carry a basin of mixed items toward the dining table	Carry a basin of mixed items toward the dining table.	carry_basin_to_table	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	270	719	548	15	["left"]	["green_basin", "mixed_items"]	2	2	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000001_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000001_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000001	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000002	Open and position a trash bag near the table	Open and position a trash bag near the table.	position_trash_bag	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	738	1,187	1,063	15	["left", "right"]	["trash_bag", "dining_table"]	4	4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000002_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000002_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000002	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000003	Fit the trash bag into the basin	Fit the trash bag into the basin.	fit_trash_bag_to_basin	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	1,188	1,637	1,446	15	["left", "right"]	["trash_bag", "green_basin"]	13	13	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000003_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000003_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000003	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000004	Stretch and secure the trash bag liner	Stretch and secure the trash bag liner.	secure_trash_bag_liner	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	1,638	2,087	1,859	15	["left", "right"]	["trash_bag", "green_basin"]	6	6	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000004_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000004_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000004	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000005	Check the lined basin before cleaning	Check the lined basin before cleaning.	check_lined_basin	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	2,088	2,456	2,158	12.3	["left", "right"]	["lined_basin"]	4	4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000005_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000005_depth_preview.mp4	generated	369	369	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000005	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000006	Handle a food container on the table	Handle a food container on the table.	handle_food_container	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	2,457	2,906	2,708	15	["left", "right"]	["food_container", "dining_table"]	5	5	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000006_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000006_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000006	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000007	Clear a large food container or lunch box	Clear a large food container or lunch box.	clear_food_container	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	3,090	3,436	3,263	11.566667	["right"]	["food_container", "lunch_box"]	2	2	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000007_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000007_depth_preview.mp4	generated	347	347	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000007	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000008	Bag food packaging and table trash	Bag food packaging and table trash.	bag_food_packaging	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	4,404	4,853	4,681	15	["left", "right"]	["food_packaging", "trash_bag"]	2	2	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000008_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000008_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000008	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000009	Move the lined bin beside the dining table	Move the lined bin beside the dining table.	move_lined_bin	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	5,111	5,519	5,330	13.633333	["left", "right"]	["lined_bin", "dining_table"]	5	5	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000009_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000009_depth_preview.mp4	generated	409	409	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000009	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000010	Pick up paper trash from the table	Pick up paper trash from the table.	pick_paper_trash	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	5,913	6,362	6,188	15	["left", "right"]	["paper_trash", "dining_table"]	8	8	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000010_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000010_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000010	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000011	Drop bottles and small trash into the bin	Drop bottles and small trash into the bin.	drop_trash_into_bin	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	6,363	6,662	6,398	10	["left"]	["bottle", "lined_bin"]	1	1	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000011_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000011_depth_preview.mp4	generated	300	300	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000011	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000012	Move away from the table after dropping trash	Move away from the table after dropping trash.	move_away_from_table	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	6,696	7,145	6,923	15	["right"]	["dining_table", "floor"]	2	2	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000012_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000012_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000012	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000013	Coil or organize a cable on a chair	Coil or organize a cable on a chair.	organize_cable_on_chair	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	7,146	7,573	7,353	14.266667	["left", "right"]	["cable", "chair"]	5	5	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000013_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000013_depth_preview.mp4	generated	428	428	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000013	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000014	Move a dining chair	Move a dining chair.	move_dining_chair	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	7,574	7,985	7,752	13.733333	["left", "right"]	["chair", "dining_table"]	14	14	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000014_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000014_depth_preview.mp4	generated	412	412	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000014	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000015	Gather charging cable from the floor	Gather charging cable from the floor.	gather_charging_cable	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	7,990	8,439	8,259	15	["left", "right"]	["charging_cable", "floor"]	5	5	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000015_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000015_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000015	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000016	Pick up a small product box	Pick up a small product box.	pick_product_box	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	8,440	8,889	8,796	15	["left"]	["product_box"]	3	3	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000016_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000016_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000016	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000017	Wipe or gather tissue and small trash	Wipe or gather tissue and small trash.	gather_tissue_trash	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	8,890	9,339	8,919	15	["left", "right"]	["tissue", "small_trash"]	3	3	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000017_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000017_depth_preview.mp4	generated	450	450	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000017	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000018	Walk beside the table with cleaning items	Walk beside the table with cleaning items.	move_between_table_areas	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	9,717	10,016	9,867	10	["right"]	["dining_table", "cleaning_items"]	1	1	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000018_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000018_depth_preview.mp4	generated	300	300	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000018	packages/tidy-dining-room/analysis/semantic_subtasks
tidy-dining-room	Tidy Dining Room	subtask_000019	Open or check a table drawer	Open or check a table drawer.	check_table_drawer	Clean and organize a dining table by collecting trash, handling containers, cables, small electronics, and table items.	Egocentric RGB-D recording around a dining table, chairs, trash bin, containers, bottles, cables, electronics, and cleaning items.	10,282	10,592	10,437	10.366667	["left"]	["drawer", "dining_table"]	2	2	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000019_rgb.mp4	packages/tidy-dining-room/analysis/semantic_subtasks/clips/subtask_000019_depth_preview.mp4	generated	311	311	packages/tidy-dining-room/analysis/semantic_subtasks/keyframes/subtask_000019	packages/tidy-dining-room/analysis/semantic_subtasks

End of preview. Expand in Data Studio

Egocentric Multimodal Daily-Life RGB-D EMG IMU Dataset

This dataset captures egocentric daily-life manipulation with synchronized RGB-D video, bilateral wrist EMG, and wrist IMU. RGB-D provides scene context, object geometry, hand motion, and contact regions, while EMG adds a physiological view of muscle activation during grasping, lifting, pressing, pulling, wiping, and other hand-object interactions.

By combining visual, depth, and muscle-signal cues, the dataset supports multimodal action segmentation, contact-aware interaction understanding, effort-sensitive manipulation analysis, and robot learning from human demonstrations.

This dataset contains first-person household activity packages for embodied AI and robotics research. Each package combines synchronized RGB-D video, wrist EMG, wrist IMU, hand-object interaction annotations, contact-oriented event candidates, and cleaned alignment metadata.

The current release is organized as task-level packages. Each package is intended to be directly usable by downstream post-processing, model training, and quality inspection pipelines.

Modalities

Modality	Description
RGB video	First-person RGB stream exported from the D455 color frames.
Depth video	D455 depth stream exported as depth preview/video artifacts for inspection and downstream use.
Wrist EMG	Bilateral wrist electromyography signals aligned to the RGB-D task timeline.
Wrist IMU	Bilateral wrist inertial measurements aligned with the EMG and RGB-D streams.
Hand interaction annotations	Per-event hand/object/contact tables, hand keypoint outputs, force fields, and short interaction clips.
Alignment reports	Time-axis cleaning, synchronization, and package-level validation reports.

Packages

Package ID	Scenario	Task Description
`washing-machine-laundry`	Washing Machine Laundry	First-person household laundry activity using a washing machine.
`tidy-bedroom`	Tidy Bedroom	First-person bedroom tidying and organization activity.
`tidy-living-room`	Tidy Living Room	First-person living-room tidying and organization activity.
`sweep-and-mop-floor`	Sweep and Mop Floor	First-person floor sweeping and mopping activity.
`tidy-dining-room`	Tidy Dining Room	First-person dining-room tidying activity.
`sink-hand-washing`	Sink Hand Washing	First-person hand washing and rubbing at a bathroom sink.
`hand-cream-application`	Hand Cream Application	First-person hand cream application and rubbing with bilateral wrist EMG.
`paper-towel-hand-wiping`	Paper Towel Hand Wiping	First-person paper towel handling, tearing, and hand wiping near a sink.

Package Layout

Each package under packages/<package_id>/ follows the same high-level structure:

packages/<package_id>/
  README.md
  manifests/
  metadata/
  media/
  analysis/
  gold/
  source_stage_a/

Important subdirectories:

Path	Contents
`media/`	RGB/depth videos and exported visual media.
`analysis/`	Interaction candidates, semantic subtasks, force/contact tables, short clips, and visual inspection assets.
`gold/`	Cleaned training-facing tables and manifests.
`metadata/`	Task, capture, calibration, schema, and processing metadata.
`source_stage_a/`	Original Stage-A package content retained for traceability and reprocessing.
`manifests/`	Export manifests, lineage information, checksums, and package inventory.

Dataset Viewer

The viewer/ directory contains lightweight CSV indexes for quick browsing on Hugging Face:

File	Purpose
`train.csv`	Standard Dataset Viewer entry point; one row per semantic subtask clip.
`viewer/packages.csv`	One row per scenario package.
`viewer/subtasks.csv`	One row per semantic subtask clip with relative paths to RGB-D clips and package artifacts.

Intended Use

This release is intended for research and engineering workflows involving egocentric household activity understanding, embodied AI data preparation, multimodal alignment, hand-object interaction analysis, and robot learning dataset construction.

Notes

RGB-D, EMG, and IMU streams are preserved as separate modalities with alignment metadata rather than merged into a single opaque video file.
Package-level README files describe each scenario and the expected directory structure.

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