How do I get list of all application packages together with their activity label from adb shell?

Sometimes I have a trouble matching application's package name in /data/data/ or /data/app/*.apk with the user-friendly activity label I see in GUI.

How do I list application packages together with their activities?

Expecting something like this:

$ adb shell list_apps
de.shandschuh.sparserss "Sparse rss"
org.vudroid "VuDroid"
jcpezzullo.statical "StatiCal"
tone.control "Tone Control"
...