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README.md

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+---
+license: cc-by-4.0
+task_categories:
+  - robotics
+tags:
+  - robot-manipulation
+  - failure-detection
+  - failure-diagnosis
+configs:
+  - config_name: failtime_short
+    data_files:
+      - split: train
+        path: failtime_short/train.json
+      - split: test
+        path: failtime_short/test.json
+  - config_name: failtime_long
+    data_files:
+      - split: test
+        path: failtime_long/test.json
+---
+
+# FailTime
+
+Failure annotations for robot manipulation rollouts, from the paper
+**ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation**.
+Each episode is labelled as a success or a failure, and every failure carries
+the moment it went wrong, its failure type, the reason, and how it could have
+been avoided.
+
+- **FailTime-Short** — annotations for [ViFailback](https://github.com/OpenHelix-Team/ViFailback) recordings (AgileX Piper). Download ViFailback separately for the episodes themselves.
+- **FailTime-Long** — long-horizon bimanual recordings (ALOHA and SO-101), included here as self-contained HDF5 files.
+
+## Layout
+
+```
+failtime_short/    train.json  test.json  tasks/
+failtime_long/     test.json   tasks/     episodes/*.hdf5
+```
+
+`tasks/` holds one XML per task: instruction, objects and substages.
+
+## Annotations
+
+```json
+{"sample": "pour_ball_transfer_cup_episode_19", "task_id": "pour_ball_transfer_cup", "episode": "episode_19",
+ "robot": "aloha", "hdf5": "episodes/pour_ball_transfer_cup_episode_19.hdf5", "verdict": "fail",
+ "onset": 1.146, "type": ["wrong_object"], "reason": "Expected: ...", "avoidance": "..."}
+```
+
+`onset` (seconds), `type`, `reason` and `avoidance` are given for failures only.
+
+## Episodes
+
+Every FailTime-Long HDF5 holds one episode:
+
+| | |
+|---|---|
+| `observation.state_eef` | both end-effectors: xyz, quaternion xyzw, gripper |
+| `observation.state`, `action` | joint states and actions (`observation.effort` on ALOHA) |
+| `observation.images.<camera>/mp4_bytes` | three camera videos: left wrist, right wrist, overhead |
+| `timestamp`, `frame_index`, `episode_index`, `next.done` | frame bookkeeping |
+
+## Usage
+
+```bash
+hf download ChangUoA/FailTime --repo-type dataset --local-dir data
+ln -s /path/to/ViFailback/raw_data data/failtime_short/episodes
+```
+
+The code is at [github.com/Chang-AIML/ProTracer](https://github.com/Chang-AIML/ProTracer).
+
+## Citation
+
+```bibtex
+@article{dong2026protracer,
+  title  = {ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation},
+  author = {Dong, Chang and Hosseinzadeh, Mehdi and Wong, King Hang and Liu, Lingqiao and Fraysse, Francois and Dayoub, Feras and Nguyen, Minh Hoai},
+  year   = {2026}
+}
+```

failtime_long/test.json

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+[
+ {
+  "sample": "pour_ball_transfer_cup_episode_19",
+  "task_id": "pour_ball_transfer_cup",
+  "episode": "episode_19",
+  "robot": "aloha",
+  "hdf5": "episodes/pour_ball_transfer_cup_episode_19.hdf5",
+  "verdict": "fail",
+  "onset": 1.145998,
+  "type": [
+   "wrong_object"
+  ],
+  "reason": "Expected: The right arm should align with and grasp the yellow cup.\nObservation: The right gripper closed on the blue cup instead.\nResult: The right arm lifted the empty blue cup.",
+  "avoidance": "Move the right arm to align with the yellow cup instead of the blue cup."
+ },
+ {
+  "sample": "pour_ball_transfer_cup_episode_20",
+  "task_id": "pour_ball_transfer_cup",
+  "episode": "episode_20",
+  "robot": "aloha",
+  "hdf5": "episodes/pour_ball_transfer_cup_episode_20.hdf5",
+  "verdict": "fail",
+  "onset": 47.88,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: Use the left arm to grasp the ball in the orange bowl\nObservation: left gripper is offset slightly upward relative to the ball\nResult: left gripper closed completely on empty space, leaving the ball behind inside the bowl",
+  "avoidance": "move the left arm slightly downward to align with the ball before grasping"
+ },
+ {
+  "sample": "pour_ball_transfer_cup_episode_21",
+  "task_id": "pour_ball_transfer_cup",
+  "episode": "episode_21",
+  "robot": "aloha",
+  "hdf5": "episodes/pour_ball_transfer_cup_episode_21.hdf5",
+  "verdict": "fail",
+  "onset": 54.301222,
+  "type": [
+   "wrong_placement"
+  ],
+  "reason": "Expected: Move the left arm to place the ball into the blue cup\nObservation: The left arm released the ball into the yellow cup\nResult: The ball was dropped into the yellow cup instead of the blue cup.",
+  "avoidance": "Move the left arm to place the ball into the blue cup"
+ },
+ {
+  "sample": "pour_ball_transfer_cup_episode_23",
+  "task_id": "pour_ball_transfer_cup",
+  "episode": "episode_23",
+  "robot": "aloha",
+  "hdf5": "episodes/pour_ball_transfer_cup_episode_23.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "empty_bowl_insert_block_episode_24",
+  "task_id": "empty_bowl_insert_block",
+  "episode": "episode_24",
+  "robot": "aloha",
+  "hdf5": "episodes/empty_bowl_insert_block_episode_24.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "empty_bowl_insert_block_episode_25",
+  "task_id": "empty_bowl_insert_block",
+  "episode": "episode_25",
+  "robot": "aloha",
+  "hdf5": "episodes/empty_bowl_insert_block_episode_25.hdf5",
+  "verdict": "fail",
+  "onset": 64.698646,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: Use the left arm to align over and insert the small block into the second slot from the right of the 4 slot block\nObservation: left arm attempted to insert the block into the leftmost slot\nResult: small block collided with the 4 slot block, tipping it over and failing the assembly",
+  "avoidance": "Use the left arm to align over and insert the small block into the second slot from the right of the 4 slot block"
+ },
+ {
+  "sample": "empty_bowl_insert_block_episode_26",
+  "task_id": "empty_bowl_insert_block",
+  "episode": "episode_26",
+  "robot": "aloha",
+  "hdf5": "episodes/empty_bowl_insert_block_episode_26.hdf5",
+  "verdict": "fail",
+  "onset": 54.996332,
+  "type": [
+   "translation_error",
+   "wrong_placement"
+  ],
+  "reason": "Expected: Use the left arm to align over and insert the small block into the second slot from the right of the 4 slot block\nObservation: the left gripper insert the small blcok to the leftmost slot.\nResult: the small block was assembled into the wrong slot",
+  "avoidance": "Use the left arm to align over and insert the small block into the second slot from the right of the 4 slot block"
+ },
+ {
+  "sample": "empty_bowl_insert_block_episode_27",
+  "task_id": "empty_bowl_insert_block",
+  "episode": "episode_27",
+  "robot": "aloha",
+  "hdf5": "episodes/empty_bowl_insert_block_episode_27.hdf5",
+  "verdict": "fail",
+  "onset": 0.0,
+  "type": [
+   "wrong_gripper"
+  ],
+  "reason": "Expected: Move the right arm to grasp the blue blocks\nObservation: The left arm is already grasping a block\nResult: The left arm executes the right arm's designated task, violating the instruction.",
+  "avoidance": "Use the right arm to approach and grasp the blocks in the bowl."
+ },
+ {
+  "sample": "balls_to_egg_carton_episode_13",
+  "task_id": "balls_to_egg_carton",
+  "episode": "episode_13",
+  "robot": "aloha",
+  "hdf5": "episodes/balls_to_egg_carton_episode_13.hdf5",
+  "verdict": "fail",
+  "onset": 47.59,
+  "type": [
+   "translation_error",
+   "wrong_placement"
+  ],
+  "reason": "Eexpected: use the left gripper to move the ball into the empty slot of the egg carton.\nObserved: the left gripper move d the ball to the opening lid of the egg carton\nResult: the ball is not placed into the slot of  the egg carton",
+  "avoidance": "Move the left gripper to align with the empty slot instead of the opening lid"
+ },
+ {
+  "sample": "balls_to_egg_carton_episode_28",
+  "task_id": "balls_to_egg_carton",
+  "episode": "episode_28",
+  "robot": "aloha",
+  "hdf5": "episodes/balls_to_egg_carton_episode_28.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "balls_to_egg_carton_episode_29",
+  "task_id": "balls_to_egg_carton",
+  "episode": "episode_29",
+  "robot": "aloha",
+  "hdf5": "episodes/balls_to_egg_carton_episode_29.hdf5",
+  "verdict": "fail",
+  "onset": 61.142777,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: use the left gripper to grasp the white left-side ball\nObservation: the left gripper is slightly upward  offset relative to the ball\nResult: the ball is not grasped and is left on the table",
+  "avoidance": "MOve the left griper slightly downward to align with the ball"
+ },
+ {
+  "sample": "balls_to_egg_carton_episode_30",
+  "task_id": "balls_to_egg_carton",
+  "episode": "episode_30",
+  "robot": "aloha",
+  "hdf5": "episodes/balls_to_egg_carton_episode_30.hdf5",
+  "verdict": "fail",
+  "onset": 29.661111,
+  "type": [
+   "wrong_gripper"
+  ],
+  "reason": "Expected: Use the left arm to move to and grasp the left-side balls\nObservation: the right arm moved to the left side and its gripper grasped the blue ball\nResult: the right arm improperly took over the task assigned to the left arm",
+  "avoidance": "Use the left arm instead of the right to move to and grasp the left-side balls"
+ },
+ {
+  "sample": "stack_cup_pyramid_episode_31",
+  "task_id": "stack_cup_pyramid",
+  "episode": "episode_31",
+  "robot": "aloha",
+  "hdf5": "episodes/stack_cup_pyramid_episode_31.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "stack_cup_pyramid_episode_32",
+  "task_id": "stack_cup_pyramid",
+  "episode": "episode_32",
+  "robot": "aloha",
+  "hdf5": "episodes/stack_cup_pyramid_episode_32.hdf5",
+  "verdict": "fail",
+  "onset": 45.715569,
+  "type": [
+   "closing_error"
+  ],
+  "reason": "Expected: Use the right gripper to grasp a single paper cup.\nObservation: The right gripper closed too much, causing it to grasp two stacked cups instead of one.\nResult: The right gripper failed to separate the two paper cups.",
+  "avoidance": "Close the gripper with larger aperture to pick up a single cup instead of two"
+ },
+ {
+  "sample": "stack_cup_pyramid_episode_33",
+  "task_id": "stack_cup_pyramid",
+  "episode": "episode_33",
+  "robot": "aloha",
+  "hdf5": "episodes/stack_cup_pyramid_episode_33.hdf5",
+  "verdict": "fail",
+  "onset": 49.52,
+  "type": [
+   "wrong_placement",
+   "translation_error"
+  ],
+  "reason": "Expected: Use the right gripper to release the cup onto the table.\nObservation: The right gripper released the cup, stacking it on top of another cup in the pyramid.\nResult: The cup was stacked onto the pyramid instead of being placed on the table.",
+  "avoidance": "Use the right gripper to release the cup onto the table."
+ },
+ {
+  "sample": "stack_cup_pyramid_episode_34",
+  "task_id": "stack_cup_pyramid",
+  "episode": "episode_34",
+  "robot": "aloha",
+  "hdf5": "episodes/stack_cup_pyramid_episode_34.hdf5",
+  "verdict": "fail",
+  "onset": 104.393384,
+  "type": [
+   "closing_error"
+  ],
+  "reason": "Expected: use the left arm to transport the cup on top of the pyramid\nObservation: the right gripper sliped the cup during transporting the cup\nResult: The cup dropped off on the table, and tje pyramid is incomplete.",
+  "avoidance": "close the gripper thightly while moving"
+ },
+ {
+  "sample": "bottle_to_bowl_and_cover_episode_36",
+  "task_id": "bottle_to_bowl_and_cover",
+  "episode": "episode_36",
+  "robot": "aloha",
+  "hdf5": "episodes/bottle_to_bowl_and_cover_episode_36.hdf5",
+  "verdict": "fail",
+  "onset": 59.6,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: release the white object centered over the bottle to mask it. \nObservation: the left gripper released the white object with a translation offset relative to the bottle cap\nResult: The bottle lost balance and fell onto the table.",
+  "avoidance": "Move the left gripper slightly to center the white object perfectly over the bottle before releasing"
+ },
+ {
+  "sample": "bottle_to_bowl_and_cover_episode_37",
+  "task_id": "bottle_to_bowl_and_cover",
+  "episode": "episode_37",
+  "robot": "aloha",
+  "hdf5": "episodes/bottle_to_bowl_and_cover_episode_37.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "bottle_to_bowl_and_cover_episode_38",
+  "task_id": "bottle_to_bowl_and_cover",
+  "episode": "episode_38",
+  "robot": "aloha",
+  "hdf5": "episodes/bottle_to_bowl_and_cover_episode_38.hdf5",
+  "verdict": "fail",
+  "onset": 17.02,
+  "type": [
+   "closing_error"
+  ],
+  "reason": "Expected: Use the right arm to transport the bottle into the bowl.\nObservation: The bottle slipped from the right gripper during transport.\nResult: The bottle was left on the table outside the bowl.",
+  "avoidance": "close the gripper tightly while moving the object"
+ },
+ {
+  "sample": "uncap_marker_draw_recap_episode_39",
+  "task_id": "uncap_marker_draw_recap",
+  "episode": "episode_39",
+  "robot": "aloha",
+  "hdf5": "episodes/uncap_marker_draw_recap_episode_39.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "uncap_marker_draw_recap_episode_41",
+  "task_id": "uncap_marker_draw_recap",
+  "episode": "episode_41",
+  "robot": "aloha",
+  "hdf5": "episodes/uncap_marker_draw_recap_episode_41.hdf5",
+  "verdict": "fail",
+  "onset": 71.6,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: Use the right arm to release the marker inside the cup.\nObservation: The right gripper dropped the marker with a slight offset to the right, causing it to collide with the rim of the cup.\nResult: The marker struck the cup's rim, tipping the cup over and falling onto the whiteboard.",
+  "avoidance": "Move the right arm to properly center the marker over the cup opening before releasing it"
+ },
+ {
+  "sample": "uncap_marker_draw_recap_episode_42",
+  "task_id": "uncap_marker_draw_recap",
+  "episode": "episode_42",
+  "robot": "aloha",
+  "hdf5": "episodes/uncap_marker_draw_recap_episode_42.hdf5",
+  "verdict": "fail",
+  "onset": 21.08,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: Move the left arm to align with the cap.\nObservation: The left gripper was offset slightly to the left and failed to grasp the cap.\nResult: The left gripper missed the cap, leaving the marker capped in the right arm.",
+  "avoidance": "Move the left gripper further to the right to align with the cap."
+ },
+ {
+  "sample": "uncap_marker_draw_recap_episode_43",
+  "task_id": "uncap_marker_draw_recap",
+  "episode": "episode_43",
+  "robot": "aloha",
+  "hdf5": "episodes/uncap_marker_draw_recap_episode_43.hdf5",
+  "verdict": "fail",
+  "onset": 5.84,
+  "type": [
+   "wrong_sequence",
+   "closing_error"
+  ],
+  "reason": "Expected: Use the right arm to move the marker towards the left arm.\nObservation: The right arm dropped the marker directly instead of moving it towards the left arm.\nResult: The marker fell and collided with the cup rim, causing it to fall.",
+  "avoidance": "keep the right gripper closed on the marker and move towards the left arm"
+ },
+ {
+  "sample": "yellow_red_blocks_to_bowls_episode_0",
+  "task_id": "yellow_red_blocks_to_bowls",
+  "episode": "episode_0",
+  "robot": "aloha",
+  "hdf5": "episodes/yellow_red_blocks_to_bowls_episode_0.hdf5",
+  "verdict": "fail",
+  "onset": 12.978725,
+  "type": [
+   "wrong_placement"
+  ],
+  "reason": "Expected: The right arm should place the yellow block into the yellow bowl on the left.\nObservation: The right arm released the yellow block into the orange bowl\nResult: The yellow block was placed into the incorrect bowl.",
+  "avoidance": "move the right arm to align the yellow block with the yellow bowl"
+ },
+ {
+  "sample": "yellow_red_blocks_to_bowls_episode_2",
+  "task_id": "yellow_red_blocks_to_bowls",
+  "episode": "episode_2",
+  "robot": "aloha",
+  "hdf5": "episodes/yellow_red_blocks_to_bowls_episode_2.hdf5",
+  "verdict": "fail",
+  "onset": 3.856999,
+  "type": [
+   "wrong_object"
+  ],
+  "reason": "Expected: use the right arm to move to and grasp the yellow block\nObservation: the right gripper closed on the red block\nResult: the right arm grasped the wrong object and placed it into the yellow bowl",
+  "avoidance": "move the right arm to grasp the yellow block instead of the red block"
+ },
+ {
+  "sample": "yellow_red_blocks_to_bowls_episode_4",
+  "task_id": "yellow_red_blocks_to_bowls",
+  "episode": "episode_4",
+  "robot": "aloha",
+  "hdf5": "episodes/yellow_red_blocks_to_bowls_episode_4.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "stabilize_and_insert_block_episode_6",
+  "task_id": "stabilize_and_insert_block",
+  "episode": "episode_6",
+  "robot": "aloha",
+  "hdf5": "episodes/stabilize_and_insert_block_episode_6.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "stabilize_and_insert_block_episode_7",
+  "task_id": "stabilize_and_insert_block",
+  "episode": "episode_7",
+  "robot": "aloha",
+  "hdf5": "episodes/stabilize_and_insert_block_episode_7.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "stabilize_and_insert_block_episode_8",
+  "task_id": "stabilize_and_insert_block",
+  "episode": "episode_8",
+  "robot": "aloha",
+  "hdf5": "episodes/stabilize_and_insert_block_episode_8.hdf5",
+  "verdict": "fail",
+  "onset": 12.697703,
+  "type": [
+   "closing_error"
+  ],
+  "reason": "Expected: Use the left arm to maintain its grasp on the blue block while using the right arm to grasp the small block.\nObservation: The left gripper failed to maintain its grasp to stabilize the blue block, while the right arm simultaneously failed to grasp the small block.\nResult: The small block was never grasped and remained on the table.",
+  "avoidance": "keep holding the blue blocks and grasp the small block once aligned"
+ },
+ {
+  "sample": "stabilize_and_insert_block_episode_9",
+  "task_id": "stabilize_and_insert_block",
+  "episode": "episode_9",
+  "robot": "aloha",
+  "hdf5": "episodes/stabilize_and_insert_block_episode_9.hdf5",
+  "verdict": "fail",
+  "onset": 9.753333,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: Move the right arm to grasp the small block.\nObservation: The right arm was offset slightly to the right of the small block.\nResult: The small block was never grasped and remained on the table.",
+  "avoidance": "Move the right arm slightly to the left to align with the small block"
+ },
+ {
+  "sample": "balls_to_rack_episode_00",
+  "task_id": "balls_to_rack",
+  "episode": "episode_00",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_00.hdf5",
+  "verdict": "fail",
+  "onset": 47.241913,
+  "type": [
+   "closing_error"
+  ],
+  "reason": "Expected: The left gripper should close firmly on the yellow ball.\nObservation: The left gripper shifted as it closed, squeezing the ball out.\nResult: The yellow ball stayed on the table and was never transferred.",
+  "avoidance": "Close the left gripper firmly on the yellow ball before transferring it."
+ },
+ {
+  "sample": "balls_to_rack_episode_01",
+  "task_id": "balls_to_rack",
+  "episode": "episode_01",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_01.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "balls_to_rack_episode_02",
+  "task_id": "balls_to_rack",
+  "episode": "episode_02",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_02.hdf5",
+  "verdict": "fail",
+  "onset": 76.420925,
+  "type": [
+   "wrong_placement",
+   "translation_error"
+  ],
+  "reason": "Expected: The left gripper should release the last green ball into a cup.\nObservation: The left gripper opened over the carton lid instead of a cup.\nResult: The green ball landed on the lid, outside every cup.",
+  "avoidance": "Align the left gripper with a free cup before releasing the green ball."
+ },
+ {
+  "sample": "balls_to_rack_episode_03",
+  "task_id": "balls_to_rack",
+  "episode": "episode_03",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_03.hdf5",
+  "verdict": "fail",
+  "onset": 26.520858,
+  "type": [
+   "translation_error",
+   "wrong_placement"
+  ],
+  "reason": "Expected: The right gripper should release the orange ball into a cup.\nObservation: The right gripper opened over the carton lid instead of a cup.\nResult: The orange ball came to rest on the lid, outside every cup.",
+  "avoidance": "Align the right gripper with a free cup before releasing the orange ball."
+ },
+ {
+  "sample": "balls_to_rack_episode_04",
+  "task_id": "balls_to_rack",
+  "episode": "episode_04",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_04.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "balls_to_rack_episode_05",
+  "task_id": "balls_to_rack",
+  "episode": "episode_05",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_05.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "balls_to_rack_episode_06",
+  "task_id": "balls_to_rack",
+  "episode": "episode_06",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_06.hdf5",
+  "verdict": "fail",
+  "onset": 16.853203,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: The right gripper should close centred on the yellow ball.\nObservation: The right gripper came down offset and closed off-centre on the ball.\nResult: The yellow ball was squeezed out and the gripper closed empty.",
+  "avoidance": "Centre the right gripper on the yellow ball before closing it."
+ },
+ {
+  "sample": "balls_to_rack_episode_07",
+  "task_id": "balls_to_rack",
+  "episode": "episode_07",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_07.hdf5",
+  "verdict": "fail",
+  "onset": 55.446167,
+  "type": [
+   "wrong_placement",
+   "translation_error"
+  ],
+  "reason": "Expected: The left gripper should release the green ball into a cup.\nObservation: The left gripper opened over the lid before reaching a free cup.\nResult: The green ball fell onto the lid instead of into a slot.",
+  "avoidance": "Align the left gripper with a free cup before releasing the green ball."
+ },
+ {
+  "sample": "balls_to_rack_episode_08",
+  "task_id": "balls_to_rack",
+  "episode": "episode_08",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_08.hdf5",
+  "verdict": "fail",
+  "onset": 72.620458,
+  "type": [
+   "wrong_placement",
+   "translation_error"
+  ],
+  "reason": "Expected: The left arm should release the pink ball into a free cup.\nObservation: The left gripper opened over the carton rim, not over a cup.\nResult: The pink ball slid off the carton onto the table, outside every slot.",
+  "avoidance": "Align the left arm with a free cup before releasing the pink ball."
+ },
+ {
+  "sample": "balls_to_rack_episode_09",
+  "task_id": "balls_to_rack",
+  "episode": "episode_09",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_09.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "balls_to_rack_episode_10",
+  "task_id": "balls_to_rack",
+  "episode": "episode_10",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_10.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "balls_to_rack_episode_11",
+  "task_id": "balls_to_rack",
+  "episode": "episode_11",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_11.hdf5",
+  "verdict": "fail",
+  "onset": 103.486389,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: The left gripper should close on the green ball.\nObservation: The left gripper closed offset from the green ball.\nResult: The grasp was empty and the green ball stayed on the table.",
+  "avoidance": "Align the left gripper with the green ball before closing it."
+ },
+ {
+  "sample": "balls_to_rack_episode_12",
+  "task_id": "balls_to_rack",
+  "episode": "episode_12",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_12.hdf5",
+  "verdict": "fail",
+  "onset": 30.407345,
+  "type": [
+   "translation_error",
+   "wrong_placement"
+  ],
+  "reason": "Expected: The right gripper should release the red ball into a cup.\nObservation: The right gripper opened over the carton edge, not over a cup.\nResult: The red ball slid off the carton onto the table, outside every slot.",
+  "avoidance": "Align the right gripper with a free cup before releasing the red ball."
+ },
+ {
+  "sample": "balls_to_rack_episode_13",
+  "task_id": "balls_to_rack",
+  "episode": "episode_13",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_13.hdf5",
+  "verdict": "fail",
+  "onset": 16.928948,
+  "type": [
+   "wrong_placement",
+   "translation_error"
+  ],
+  "reason": "Expected: The right gripper should release the orange ball into a cup.\nObservation: The right gripper opened over the carton lid rather than a cup.\nResult: The orange ball settled on the lid and never entered a slot.",
+  "avoidance": "Align the orange ball with a free cup before opening the right gripper."
+ },
+ {
+  "sample": "balls_to_rack_episode_14",
+  "task_id": "balls_to_rack",
+  "episode": "episode_14",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_14.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "balls_to_rack_episode_15",
+  "task_id": "balls_to_rack",
+  "episode": "episode_15",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_15.hdf5",
+  "verdict": "fail",
+  "onset": 47.206255,
+  "type": [
+   "translation_error",
+   "wrong_placement"
+  ],
+  "reason": "Expected: The left gripper should release the blue ball into a cup.\nObservation: The left gripper opened over the lid before aligning with a cup.\nResult: The blue ball dropped onto the lid instead of into a slot.",
+  "avoidance": "Align the left gripper with a free cup before releasing the blue ball."
+ },
+ {
+  "sample": "balls_to_rack_episode_16",
+  "task_id": "balls_to_rack",
+  "episode": "episode_16",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_16.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "balls_to_rack_episode_17",
+  "task_id": "balls_to_rack",
+  "episode": "episode_17",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_17.hdf5",
+  "verdict": "fail",
+  "onset": 29.206246,
+  "type": [
+   "wrong_placement"
+  ],
+  "reason": "Expected: The right gripper should release the yellow ball into a cup.\nObservation: The right gripper opened over the carton edge, not over a cup.\nResult: The yellow ball slid off the carton onto the table beside it.",
+  "avoidance": "Align the yellow ball with the target cup before opening the right gripper."
+ },
+ {
+  "sample": "balls_to_rack_episode_19",
+  "task_id": "balls_to_rack",
+  "episode": "episode_19",
+  "robot": "so101",
+  "hdf5": "episodes/balls_to_rack_episode_19.hdf5",
+  "verdict": "fail",
+  "onset": 47.833271,
+  "type": [
+   "closing_error"
+  ],
+  "reason": "Expected: The left gripper should hold the blue ball during transfer.\nObservation: The left gripper's hold loosened and the blue ball slipped out.\nResult: The blue ball fell back onto the table, never reaching a cup.",
+  "avoidance": "Keep the left gripper closed on the blue ball throughout the transfer."
+ },
+ {
+  "sample": "block_assembly_episode_00",
+  "task_id": "block_assembly",
+  "episode": "episode_00",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_00.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "block_assembly_episode_01",
+  "task_id": "block_assembly",
+  "episode": "episode_01",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_01.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "block_assembly_episode_03",
+  "task_id": "block_assembly",
+  "episode": "episode_03",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_03.hdf5",
+  "verdict": "fail",
+  "onset": 33.193632,
+  "type": [
+   "wrong_placement",
+   "translation_error"
+  ],
+  "reason": "Expected: The left arm should place the second yellow bar on the stack.\nObservation: The left gripper released the yellow bar one bar-width behind the stack.\nResult: The bar settled on the mat, leaving the top layer unassembled.",
+  "avoidance": "Centre the yellow bar over the red and green bricks before releasing it."
+ },
+ {
+  "sample": "block_assembly_episode_04",
+  "task_id": "block_assembly",
+  "episode": "episode_04",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_04.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "block_assembly_episode_05",
+  "task_id": "block_assembly",
+  "episode": "episode_05",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_05.hdf5",
+  "verdict": "fail",
+  "onset": 38.558143,
+  "type": [
+   "wrong_placement",
+   "translation_error"
+  ],
+  "reason": "Expected: The left arm should seat the second yellow bar on the four studs.\nObservation: The left gripper released the yellow bar off the four studs.\nResult: The bar did not seat and the stack collapsed on the mat.",
+  "avoidance": "Align the yellow bar with the stack's four studs before lowering it."
+ },
+ {
+  "sample": "block_assembly_episode_06",
+  "task_id": "block_assembly",
+  "episode": "episode_06",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_06.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "block_assembly_episode_07",
+  "task_id": "block_assembly",
+  "episode": "episode_07",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_07.hdf5",
+  "verdict": "fail",
+  "onset": 7.015,
+  "type": [
+   "wrong_placement"
+  ],
+  "reason": "Expected: The left arm should seat the red brick at one end of the yellow bar.\nObservation: The left gripper pressed the red brick onto the two middle studs.\nResult: The red brick ended centred, which violates the assembly rule.",
+  "avoidance": "Seat the red brick on the two studs at one end of the yellow bar."
+ },
+ {
+  "sample": "block_assembly_episode_08",
+  "task_id": "block_assembly",
+  "episode": "episode_08",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_08.hdf5",
+  "verdict": "fail",
+  "onset": 3.543107,
+  "type": [
+   "wrong_sequence"
+  ],
+  "reason": "Expected: The left arm should grasp the green brick to stack on the yellow bar.\nObservation: The left gripper closed on the second yellow bar instead.\nResult: That bar ended stacked on the base bar, violating the stacking order.",
+  "avoidance": "Grasp the green brick with the left gripper and stack it on the yellow bar."
+ },
+ {
+  "sample": "block_assembly_episode_09",
+  "task_id": "block_assembly",
+  "episode": "episode_09",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_09.hdf5",
+  "verdict": "fail",
+  "onset": 3.884564,
+  "type": [
+   "wrong_sequence",
+   "wrong_object"
+  ],
+  "reason": "Expected: The right arm should first seat a small brick on the yellow base bar.\nObservation: The right gripper capped one yellow bar with the other one first.\nResult: The two bars ended joined directly, violating the stacking order.",
+  "avoidance": "Stack the two small bricks on the yellow bar before capping with the second."
+ },
+ {
+  "sample": "block_assembly_episode_10",
+  "task_id": "block_assembly",
+  "episode": "episode_10",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_10.hdf5",
+  "verdict": "fail",
+  "onset": 16.207467,
+  "type": [
+   "wrong_placement"
+  ],
+  "reason": "Expected: The right arm should seat the green brick on the bar's free half.\nObservation: The right gripper released the green brick onto the other yellow bar.\nResult: The bricks ended on separate bars, violating the stacking order.",
+  "avoidance": "Seat the green brick on the same yellow bar that carries the red brick."
+ },
+ {
+  "sample": "block_assembly_episode_11",
+  "task_id": "block_assembly",
+  "episode": "episode_11",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_11.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "block_assembly_episode_12",
+  "task_id": "block_assembly",
+  "episode": "episode_12",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_12.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "block_assembly_episode_13",
+  "task_id": "block_assembly",
+  "episode": "episode_13",
+  "robot": "so101",
+  "hdf5": "episodes/block_assembly_episode_13.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "blocks_to_bowls_episode_00",
+  "task_id": "blocks_to_bowls",
+  "episode": "episode_00",
+  "robot": "so101",
+  "hdf5": "episodes/blocks_to_bowls_episode_00.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "blocks_to_bowls_episode_01",
+  "task_id": "blocks_to_bowls",
+  "episode": "episode_01",
+  "robot": "so101",
+  "hdf5": "episodes/blocks_to_bowls_episode_01.hdf5",
+  "verdict": "fail",
+  "onset": 62.713544,
+  "type": [
+   "orientation_error",
+   "translation_error"
+  ],
+  "reason": "Expected: The right arm should align with the green cube and grasp it.\nObservation: The right gripper closed before aligning with the green cube.\nResult: The grasp failed and the green cube stayed on the table.",
+  "avoidance": "Align the right gripper with the green cube before closing it."
+ },
+ {
+  "sample": "blocks_to_bowls_episode_02",
+  "task_id": "blocks_to_bowls",
+  "episode": "episode_02",
+  "robot": "so101",
+  "hdf5": "episodes/blocks_to_bowls_episode_02.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "blocks_to_bowls_episode_03",
+  "task_id": "blocks_to_bowls",
+  "episode": "episode_03",
+  "robot": "so101",
+  "hdf5": "episodes/blocks_to_bowls_episode_03.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "blocks_to_bowls_episode_04",
+  "task_id": "blocks_to_bowls",
+  "episode": "episode_04",
+  "robot": "so101",
+  "hdf5": "episodes/blocks_to_bowls_episode_04.hdf5",
+  "verdict": "fail",
+  "onset": 39.725431,
+  "type": [
+   "wrong_placement"
+  ],
+  "reason": "Expected: The left arm should drop the orange cube into the orange bowl.\nObservation: The left arm released the orange cube over the yellow bowl.\nResult: The orange cube ended up in the yellow bowl, so the colours do not match.",
+  "avoidance": "Release the orange cube over the orange bowl, not the yellow bowl."
+ },
+ {
+  "sample": "cube_stack_episode_00",
+  "task_id": "cube_stack",
+  "episode": "episode_00",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_00.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_01",
+  "task_id": "cube_stack",
+  "episode": "episode_01",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_01.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_02",
+  "task_id": "cube_stack",
+  "episode": "episode_02",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_02.hdf5",
+  "verdict": "fail",
+  "onset": 25.89472,
+  "type": [
+   "translation_error",
+   "wrong_placement"
+  ],
+  "reason": "Expected: The right arm should place the red cube on top of the stack.\nObservation: The right gripper opened while the red cube was beside the stack's top.\nResult: The red cube fell onto the table and the stack stayed two cubes high.",
+  "avoidance": "Align the red cube over the stack before opening the right gripper."
+ },
+ {
+  "sample": "cube_stack_episode_03",
+  "task_id": "cube_stack",
+  "episode": "episode_03",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_03.hdf5",
+  "verdict": "fail",
+  "onset": 2.560555,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: The right arm should grasp the yellow cube and lift it.\nObservation: The right gripper closed offset from the yellow cube.\nResult: The gripper came up empty and no cube reached the stack.",
+  "avoidance": "Line the right gripper up with the yellow cube before closing it."
+ },
+ {
+  "sample": "cube_stack_episode_04",
+  "task_id": "cube_stack",
+  "episode": "episode_04",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_04.hdf5",
+  "verdict": "fail",
+  "onset": 13.159259,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: The right arm should place the green cube on top of the stack.\nObservation: The right gripper released the green cube off the stack's top face.\nResult: The stack toppled, leaving all three cubes lying on the table.",
+  "avoidance": "Align the green cube over the stack before releasing it."
+ },
+ {
+  "sample": "cube_stack_episode_05",
+  "task_id": "cube_stack",
+  "episode": "episode_05",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_05.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_06",
+  "task_id": "cube_stack",
+  "episode": "episode_06",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_06.hdf5",
+  "verdict": "fail",
+  "onset": 17.757777,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: The right arm should place the green cube on top of the stack.\nObservation: The right gripper released the green cube against the side of the stack.\nResult: The falling green cube knocked the stack over onto the table.",
+  "avoidance": "Slow down and align the green cube over the stack before releasing it."
+ },
+ {
+  "sample": "cube_stack_episode_07",
+  "task_id": "cube_stack",
+  "episode": "episode_07",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_07.hdf5",
+  "verdict": "fail",
+  "onset": 20.876419,
+  "type": [
+   "wrong_sequence",
+   "wrong_placement"
+  ],
+  "reason": "Expected: The right arm should place the green cube on the two-cube tower.\nObservation: The right gripper released the green cube on the loose red cube, not the tower.\nResult: A separate green-on-red pile formed and the tower stayed two cubes high.",
+  "avoidance": "Release the cube on the two-cube tower, not on the loose red cube."
+ },
+ {
+  "sample": "cube_stack_episode_08",
+  "task_id": "cube_stack",
+  "episode": "episode_08",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_08.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_09",
+  "task_id": "cube_stack",
+  "episode": "episode_09",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_09.hdf5",
+  "verdict": "fail",
+  "onset": 45.084753,
+  "type": [
+   "translation_error",
+   "orientation_error"
+  ],
+  "reason": "Expected: The right arm should place the purple cube on top of the tower.\nObservation: The right gripper opened with the purple cube past the tower's top, askew.\nResult: The purple cube dropped onto the table and the tower stayed standing.",
+  "avoidance": "Align the purple cube over the tower before opening the right gripper."
+ },
+ {
+  "sample": "cube_stack_episode_10",
+  "task_id": "cube_stack",
+  "episode": "episode_10",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_10.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_11",
+  "task_id": "cube_stack",
+  "episode": "episode_11",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_11.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_12",
+  "task_id": "cube_stack",
+  "episode": "episode_12",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_12.hdf5",
+  "verdict": "fail",
+  "onset": 35.055738,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: The right arm should place the last purple cube on top of the tower.\nObservation: The right gripper opened with the purple cube offset from the tower's top.\nResult: The cube fell to the table and the tower collapsed as the arm withdrew.",
+  "avoidance": "Align the last purple cube over the tower before opening the right gripper."
+ },
+ {
+  "sample": "cube_stack_episode_14",
+  "task_id": "cube_stack",
+  "episode": "episode_14",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_14.hdf5",
+  "verdict": "fail",
+  "onset": 40.775418,
+  "type": [
+   "translation_error",
+   "orientation_error"
+  ],
+  "reason": "Expected: The right arm should place the last purple cube on top of the tower.\nObservation: The right gripper released the purple cube misaligned over the tower's top.\nResult: The tower toppled, leaving all four cubes lying on the table.",
+  "avoidance": "Align the purple cube with the tower's top before releasing it."
+ },
+ {
+  "sample": "cube_stack_episode_15",
+  "task_id": "cube_stack",
+  "episode": "episode_15",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_15.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_16",
+  "task_id": "cube_stack",
+  "episode": "episode_16",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_16.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_17",
+  "task_id": "cube_stack",
+  "episode": "episode_17",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_17.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_18",
+  "task_id": "cube_stack",
+  "episode": "episode_18",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_18.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "cube_stack_episode_19",
+  "task_id": "cube_stack",
+  "episode": "episode_19",
+  "robot": "so101",
+  "hdf5": "episodes/cube_stack_episode_19.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "handover_episode_00",
+  "task_id": "handover",
+  "episode": "episode_00",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_00.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "handover_episode_01",
+  "task_id": "handover",
+  "episode": "episode_01",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_01.hdf5",
+  "verdict": "fail",
+  "onset": 25.72,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: The right arm should take the block from the left arm.\nObservation: The right gripper closed beside the block instead of around it.\nResult: The block fell onto the table when the left gripper opened.",
+  "avoidance": "Align the right gripper with the block before closing it."
+ },
+ {
+  "sample": "handover_episode_02",
+  "task_id": "handover",
+  "episode": "episode_02",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_02.hdf5",
+  "verdict": "fail",
+  "onset": 49.319987,
+  "type": [
+   "open_error"
+  ],
+  "reason": "Expected: The left gripper should open once the right gripper has the block.\nObservation: The left gripper stayed shut on the block and never released it.\nResult: The block was never transferred to the right arm.",
+  "avoidance": "Open the left gripper once the right gripper has closed on the block."
+ },
+ {
+  "sample": "handover_episode_03",
+  "task_id": "handover",
+  "episode": "episode_03",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_03.hdf5",
+  "verdict": "fail",
+  "onset": 19.486666,
+  "type": [
+   "wrong_placement",
+   "translation_error"
+  ],
+  "reason": "Expected: The right arm should release the toy fries carton over the bowl.\nObservation: The gripper opened while the carton was still short of the bowl.\nResult: The carton landed on its side on the table beside the bowl.",
+  "avoidance": "Centre the toy fries carton over the bowl before opening the gripper."
+ },
+ {
+  "sample": "handover_episode_04",
+  "task_id": "handover",
+  "episode": "episode_04",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_04.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "handover_episode_05",
+  "task_id": "handover",
+  "episode": "episode_05",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_05.hdf5",
+  "verdict": "fail",
+  "onset": 24.56574,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: The right arm should take the block from the left arm.\nObservation: The right gripper closed past the block instead of around it.\nResult: The block dropped onto the table beside the bowl when the left gripper opened.",
+  "avoidance": "Align the right arm with the block before closing the gripper."
+ },
+ {
+  "sample": "handover_episode_06",
+  "task_id": "handover",
+  "episode": "episode_06",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_06.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "handover_episode_07",
+  "task_id": "handover",
+  "episode": "episode_07",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_07.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "handover_episode_08",
+  "task_id": "handover",
+  "episode": "episode_08",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_08.hdf5",
+  "verdict": "fail",
+  "onset": 25.93327,
+  "type": [
+   "translation_error"
+  ],
+  "reason": "Expected: The left arm should take the toy fries carton from the right arm.\nObservation: The left gripper closed on air, offset from the carton.\nResult: The carton fell onto the table and never reached the left arm.",
+  "avoidance": "Align the left gripper with the toy fries carton before closing it."
+ },
+ {
+  "sample": "handover_episode_09",
+  "task_id": "handover",
+  "episode": "episode_09",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_09.hdf5",
+  "verdict": "fail",
+  "onset": 32.661909,
+  "type": [
+   "closing_error"
+  ],
+  "reason": "Expected: The left arm should carry the block to the bowl.\nObservation: The left gripper opened partway through the carry.\nResult: The block fell onto the table beside the bowl.",
+  "avoidance": "Keep the left gripper closed on the block until it is above the bowl."
+ },
+ {
+  "sample": "handover_episode_10",
+  "task_id": "handover",
+  "episode": "episode_10",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_10.hdf5",
+  "verdict": "fail",
+  "onset": 45.233333,
+  "type": [
+   "wrong_sequence"
+  ],
+  "reason": "Expected: The right arm should also pass the block across.\nObservation: The right gripper never closed on the block.\nResult: The block stayed on the passer's side, with only two items in the bowl.",
+  "avoidance": "Grasp the block with the right arm and pass it across as well."
+ },
+ {
+  "sample": "handover_episode_12",
+  "task_id": "handover",
+  "episode": "episode_12",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_12.hdf5",
+  "verdict": "success"
+ },
+ {
+  "sample": "handover_episode_13",
+  "task_id": "handover",
+  "episode": "episode_13",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_13.hdf5",
+  "verdict": "fail",
+  "onset": 10.430853,
+  "type": [
+   "translation_error",
+   "orientation_error"
+  ],
+  "reason": "Expected: The right arm should take the block from the left arm.\nObservation: The right gripper closed offset and unsquared, catching only the block's edge.\nResult: The block fell onto the table beside the barrier's base.",
+  "avoidance": "Align the right arm square to the block's faces before closing the gripper."
+ },
+ {
+  "sample": "handover_episode_14",
+  "task_id": "handover",
+  "episode": "episode_14",
+  "robot": "so101",
+  "hdf5": "episodes/handover_episode_14.hdf5",
+  "verdict": "success"
+ }
+]

failtime_short/tasks/cut_sausage.xml

@@ -0,0 +1,34 @@
+<task name="cut_sausage">
+  <description>Use the right arm to pick up the knife from the knife holder, cut a small piece of sausage and put it back on the knife holder.</description>
+  <task_objects>
+    <object>knife</object>
+    <object>knife holder</object>
+    <object>sausage</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the knife holder.</substage>
+    <substage>2. Grasp the knife from the knife holder.</substage>
+    <substage>3. Move the right arm to align with the sausage.</substage>
+    <substage>4. Cut a small piece of sausage.</substage>
+    <substage>5. Move the right arm to align with the knife holder.</substage>
+    <substage>6. Release the gripper to put the knife back on the knife holder.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>cutting</predicate>
+    <predicate>cut_through</predicate>
+  </predicates>
+</task>

failtime_short/tasks/grasp_bottle_place_bowl.xml

@@ -0,0 +1,29 @@
+<task name="grasp_bottle_place_bowl">
+  <description>Use the left arm to grasp the bottle and place it into the pink bowl.</description>
+  <task_objects>
+    <object>bottle</object>
+    <object>pink bowl</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the bottle.</substage>
+    <substage>2. Grasp the bottle.</substage>
+    <substage>3. Move the left arm to align with the pink bowl.</substage>
+    <substage>4. Release the gripper to place the bottle into the pink bowl.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/grasp_duck_put_cup.xml

@@ -0,0 +1,29 @@
+<task name="grasp_duck_put_cup">
+  <description>Use the right arm to grasp the orange duck and place it on the cup.</description>
+  <task_objects>
+    <object>orange duck</object>
+    <object>cup</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the yellow duck.</substage>
+    <substage>2. Grasp the yellow duck.</substage>
+    <substage>3. Move the right arm to align with the cup.</substage>
+    <substage>4. Release the gripper to place the yellow duck on the cup.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/grasp_marker_place_in_cup.xml

@@ -0,0 +1,29 @@
+<task name="grasp_marker_place_in_cup">
+  <description>Use the right arm to grasp the marker and place it in the purple cup.</description>
+  <task_objects>
+    <object>marker</object>
+    <object>purple cup</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the marker.</substage>
+    <substage>2. Grasp the marker.</substage>
+    <substage>3. Move the right arm to align with the purple cup.</substage>
+    <substage>4. Release the gripper to place the marker into the purple cup.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/grasp_spatula_place_basket.xml

@@ -0,0 +1,29 @@
+<task name="grasp_spatula_place_basket">
+  <description>Use the left arm to grasp the wooden spatula and place it in the blue basket.</description>
+  <task_objects>
+    <object>wooden spatula</object>
+    <object>blue basket</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the wooden spatula.</substage>
+    <substage>2. Grasp the wooden spatula with the left arm.</substage>
+    <substage>3. Move the left arm to align with the blue basket.</substage>
+    <substage>4. Release the gripper to place the wooden spatula into the blue basket.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/grasp_spatula_put_pot.xml

@@ -0,0 +1,29 @@
+<task name="grasp_spatula_put_pot">
+  <description>Use the right arm to grasp the wooden spatula and put it into the pot.</description>
+  <task_objects>
+    <object>wooden spatula</object>
+    <object>pot</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the wooden spatula.</substage>
+    <substage>2. Grasp the wooden spatula.</substage>
+    <substage>3. Move the right arm to align with the pot.</substage>
+    <substage>4. Release the gripper to put the wooden spatula into the pot.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/lift_lid_and_put_green_duck.xml

@@ -0,0 +1,34 @@
+<task name="lift_lid_and_put_green_duck">
+  <description>Use the right arm to lift the lid off the pot, then use the left arm to place the green duck into the pot.</description>
+  <task_objects>
+    <object>lid</object>
+    <object>pot</object>
+    <object>green duck</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the lid of the pot.</substage>
+    <substage>2. Grasp the lid with the right arm.</substage>
+    <substage>3. Lift the lid off the pot using the right arm.</substage>
+    <substage>4. Move the left arm to approach and align with the green duck.</substage>
+    <substage>5. Grasp the green duck with the left arm.</substage>
+    <substage>6. Move the left arm to align with the pot.</substage>
+    <substage>7. Release the gripper to place the green duck into the pot.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>lid_off</predicate>
+  </predicates>
+</task>

failtime_short/tasks/lift_lid_place_duck.xml

@@ -0,0 +1,34 @@
+<task name="lift_lid_place_duck">
+  <description>Use the right arm to lift the lid off the pot, then use the left arm to place the green duck inside.</description>
+  <task_objects>
+    <object>lid</object>
+    <object>pot</object>
+    <object>green duck</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the lid of the pot.</substage>
+    <substage>2. Grasp the lid with the right arm.</substage>
+    <substage>3. Lift the lid off the pot using the right arm.</substage>
+    <substage>4. Move the left arm to approach and align with the green duck.</substage>
+    <substage>5. Grasp the green duck with the left arm.</substage>
+    <substage>6. Move the left arm to align with the open pot.</substage>
+    <substage>7. Release the gripper to place the green duck inside the pot.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>lid_off</predicate>
+  </predicates>
+</task>

failtime_short/tasks/lift_lid_place_pot.xml

@@ -0,0 +1,31 @@
+<task name="lift_lid_place_pot">
+  <description>Use the left arm to lift the lid of the pot and place it over the pot.</description>
+  <task_objects>
+    <object>lid</object>
+    <object>pot</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the lid of the pot.</substage>
+    <substage>2. Grasp the lid of the pot with the left arm.</substage>
+    <substage>3. Lift the lid of the pot using the left arm.</substage>
+    <substage>4. Move the left arm to align the lid over the pot.</substage>
+    <substage>5. Release the gripper to place the lid over the pot.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>lid_off</predicate>
+  </predicates>
+</task>

failtime_short/tasks/open_drawer_put_marker.xml

@@ -0,0 +1,35 @@
+<task name="open_drawer_put_marker">
+  <description>Use the left arm to open the drawer, then use the right arm to put the marker inside.</description>
+  <task_objects>
+    <object>drawer</object>
+    <object>marker</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the drawer handle.</substage>
+    <substage>2. Grasp the drawer handle with the left arm.</substage>
+    <substage>3. Pull the drawer open using the left arm.</substage>
+    <substage>4. Move the right arm to approach and align with the marker.</substage>
+    <substage>5. Grasp the marker with the right arm.</substage>
+    <substage>6. Move the right arm to align with the open drawer.</substage>
+    <substage>7. Release the gripper to place the marker inside the drawer.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>open</predicate>
+    <predicate>closed</predicate>
+    <predicate>partly_open</predicate>
+  </predicates>
+</task>

failtime_short/tasks/open_lid_place_filter.xml

@@ -0,0 +1,33 @@
+<task name="open_lid_place_filter">
+  <description>Use the left arm to open the rice cooker lid, then use the right arm to place the filter inside.</description>
+  <task_objects>
+    <object>rice cooker lid</object>
+    <object>filter</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the rice cooker lid.</substage>
+    <substage>2. Grasp the rice cooker lid with the left arm.</substage>
+    <substage>3. Open the rice cooker lid using the left arm.</substage>
+    <substage>4. Move the right arm to approach and align with the filter.</substage>
+    <substage>5. Grasp the filter with the right arm.</substage>
+    <substage>6. Move the right arm to align with the open rice cooker.</substage>
+    <substage>7. Release the gripper to place the filter inside the rice cooker.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>lid_off</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_block_drawer_to_plate.xml

@@ -0,0 +1,35 @@
+<task name="pick_block_drawer_to_plate">
+  <description>Use the right arm to pick up the purple block from inside the drawer and place it on the plate. Then, use the left arm to push the drawer closed.</description>
+  <task_objects>
+    <object>purple block</object>
+    <object>drawer</object>
+    <object>plate</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the purple block inside the drawer.</substage>
+    <substage>2. Grasp the purple block with the right arm.</substage>
+    <substage>3. Move the right arm to align with the plate.</substage>
+    <substage>4. Release the gripper to place the purple block on the plate.</substage>
+    <substage>5. Move the left arm to approach and align with the drawer handle.</substage>
+    <substage>6. Push the drawer closed using the left arm.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>open</predicate>
+    <predicate>closed</predicate>
+    <predicate>partly_open</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_bowl_cube.xml

@@ -0,0 +1,34 @@
+<task name="pick_bowl_cube">
+  <description>Use the left arm to pick up the pink bowl and place it in the middle of the table. Then use the right arm to pick up the yellow cube and place it into the pink bowl.</description>
+  <task_objects>
+    <object>pink bowl</object>
+    <object>table</object>
+    <object>yellow cube</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the pink bowl.</substage>
+    <substage>2. Grasp the pink bowl with the left arm.</substage>
+    <substage>3. Move the left arm to align with the middle of the table.</substage>
+    <substage>4. Release the gripper to place the pink bowl in the middle of the table.</substage>
+    <substage>5. Move the right arm to approach and align with the yellow cube.</substage>
+    <substage>6. Grasp the yellow cube with the right arm.</substage>
+    <substage>7. Move the right arm to align with the pink bowl.</substage>
+    <substage>8. Release the gripper to place the yellow cube into the pink bowl.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_bowl_on_top_shelf.xml

@@ -0,0 +1,29 @@
+<task name="pick_bowl_on_top_shelf">
+  <description>Use the left arm to pick up the pink bowl and place it on the top shelf.</description>
+  <task_objects>
+    <object>pink bowl</object>
+    <object>top shelf</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the pink bowl.</substage>
+    <substage>2. Grasp the pink bowl.</substage>
+    <substage>3. Move the left arm to align with the top shelf.</substage>
+    <substage>4. Release the gripper to place the pink bowl on the top shelf.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_cube_drawer_plate.xml

@@ -0,0 +1,33 @@
+<task name="pick_cube_drawer_plate">
+  <description>Use the left arm to pick up the pink cube from the drawer and place it on the plate.</description>
+  <task_objects>
+    <object>pink cube</object>
+    <object>drawer</object>
+    <object>plate</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the pink cube in the drawer.</substage>
+    <substage>2. Grasp the pink cube with the left arm.</substage>
+    <substage>3. Move the left arm to align with the plate.</substage>
+    <substage>4. Release the gripper to place the pink cube on the plate.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>open</predicate>
+    <predicate>closed</predicate>
+    <predicate>partly_open</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_cube_transfer_place_basket_ep1.xml

@@ -0,0 +1,32 @@
+<task name="pick_cube_transfer_place_basket_ep1">
+  <description>Use the right arm to grasp the blue cube, transfer it to the left arm and then use the left arm to put it in the basket.</description>
+  <task_objects>
+    <object>blue cube</object>
+    <object>basket</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the blue cube.</substage>
+    <substage>2. Grasp the blue cube with the right arm.</substage>
+    <substage>3. Move the right arm to a transfer position.</substage>
+    <substage>4. Move the left arm to the transfer position to receive the blue cube.</substage>
+    <substage>5. Transfer the blue cube from the right arm to the left arm.</substage>
+    <substage>6. Move the left arm to align with the basket.</substage>
+    <substage>7. Release the gripper to place the blue cube into the basket.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_eraser_place_right_box.xml

@@ -0,0 +1,30 @@
+<task name="pick_eraser_place_right_box">
+  <description>Use the left arm to grasp the eraser from the table and place it in the black box on the right.</description>
+  <task_objects>
+    <object>eraser</object>
+    <object>table</object>
+    <object>black box</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the eraser on the table.</substage>
+    <substage>2. Grasp the eraser with the left arm.</substage>
+    <substage>3. Move the left arm to align with the black box on the right.</substage>
+    <substage>4. Release the gripper to place the eraser into the black box.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_green_cube_put_basket.xml

@@ -0,0 +1,29 @@
+<task name="pick_green_cube_put_basket">
+  <description>Use the left arm to pick up the green cube and place it into the woven basket.</description>
+  <task_objects>
+    <object>green cube</object>
+    <object>woven basket</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the green cube.</substage>
+    <substage>2. Grasp the green cube.</substage>
+    <substage>3. Move the left arm to align with the woven basket.</substage>
+    <substage>4. Release the gripper to place the green cube into the woven basket.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_marker_place_bowl.xml

@@ -0,0 +1,29 @@
+<task name="pick_marker_place_bowl">
+  <description>Use the right arm to pick up the marker and place it into the white bowl.</description>
+  <task_objects>
+    <object>marker</object>
+    <object>white bowl</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the marker.</substage>
+    <substage>2. Grasp the marker.</substage>
+    <substage>3. Move the right arm to align with the white bowl.</substage>
+    <substage>4. Release the gripper to place the marker into the white bowl.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_marker_transfer_place_plate_ep1.xml

@@ -0,0 +1,33 @@
+<task name="pick_marker_transfer_place_plate_ep1">
+  <description>Use the left arm to grasp the marker, transfer it to the right arm and then use the right arm to put it in the green plate.</description>
+  <task_objects>
+    <object>marker</object>
+    <object>green plate</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the marker.</substage>
+    <substage>2. Grasp the marker with the left arm.</substage>
+    <substage>3. Move the left arm to a transfer position.</substage>
+    <substage>4. Move the right arm to approach and align with the marker held by the left arm.</substage>
+    <substage>5. Grasp the marker with the right arm.</substage>
+    <substage>6. Release the marker from the left arm.</substage>
+    <substage>7. Move the right arm to align with the green plate.</substage>
+    <substage>8. Release the gripper to place the marker into the green plate.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_marker_transfer_place_plate_ep2.xml

@@ -0,0 +1,33 @@
+<task name="pick_marker_transfer_place_plate_ep2">
+  <description>Use the left arm to grasp the marker, transfer it to the right arm and then use the right arm to put it in the green plate.</description>
+  <task_objects>
+    <object>marker</object>
+    <object>green plate</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the marker.</substage>
+    <substage>2. Grasp the marker with the left arm.</substage>
+    <substage>3. Move the left arm to a transfer position.</substage>
+    <substage>4. Move the right arm to approach and align with the marker held by the left arm.</substage>
+    <substage>5. Grasp the marker with the right arm.</substage>
+    <substage>6. Release the marker from the left arm.</substage>
+    <substage>7. Move the right arm to align with the green plate.</substage>
+    <substage>8. Release the gripper to place the marker in the green plate.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_mouse_basket.xml

@@ -0,0 +1,30 @@
+<task name="pick_mouse_basket">
+  <description>Use the right arm to pick up the mouse from the tray and place it in the basket.</description>
+  <task_objects>
+    <object>mouse</object>
+    <object>tray</object>
+    <object>basket</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the mouse on the tray.</substage>
+    <substage>2. Grasp the mouse with the right arm.</substage>
+    <substage>3. Move the right arm to align with the basket.</substage>
+    <substage>4. Release the gripper to place the mouse into the basket.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_object_place_left_box_ep1.xml

@@ -0,0 +1,30 @@
+<task name="pick_object_place_left_box_ep1">
+  <description>Use the right arm to grasp the object from the table and place it in the black box on the left.</description>
+  <task_objects>
+    <object>object</object>
+    <object>table</object>
+    <object>black box</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the object on the table.</substage>
+    <substage>2. Grasp the object from the table.</substage>
+    <substage>3. Move the right arm to align with the black box on the left.</substage>
+    <substage>4. Release the gripper to place the object into the black box.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_pepsi_place_bowl.xml

@@ -0,0 +1,29 @@
+<task name="pick_pepsi_place_bowl">
+  <description>Use the right arm to grasp the pepsi bottle and place it upright in the blue bowl.</description>
+  <task_objects>
+    <object>pepsi bottle</object>
+    <object>blue bowl</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the pepsi bottle.</substage>
+    <substage>2. Grasp the pepsi bottle.</substage>
+    <substage>3. Move the right arm to align with the blue bowl.</substage>
+    <substage>4. Release the gripper to place the pepsi bottle upright in the blue bowl.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_pepsi_transfer_place_plate_ep1.xml

@@ -0,0 +1,33 @@
+<task name="pick_pepsi_transfer_place_plate_ep1">
+  <description>Use the left arm to grasp the Pepsi can, transfer it to the right arm and then use the right arm to place it upright on the green plate.</description>
+  <task_objects>
+    <object>pepsi can</object>
+    <object>green plate</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the Pepsi can.</substage>
+    <substage>2. Grasp the Pepsi can with the left arm.</substage>
+    <substage>3. Move the left arm to a transfer position.</substage>
+    <substage>4. Move the right arm to approach and align with the Pepsi can held by the left arm.</substage>
+    <substage>5. Grasp the Pepsi can with the right arm.</substage>
+    <substage>6. Release the Pepsi can from the left arm.</substage>
+    <substage>7. Move the right arm to align with the green plate.</substage>
+    <substage>8. Release the gripper to place the Pepsi can upright on the green plate.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_place_chem_ep1.xml

@@ -0,0 +1,35 @@
+<task name="pick_place_chem_ep1">
+  <description>Use the left arm to pick up the vial and place it in the left empty slot on the rack. Then use the right arm to grasp the test tube and place it in the right empty slot on the rack.</description>
+  <task_objects>
+    <object>vial</object>
+    <object>slot</object>
+    <object>rack</object>
+    <object>test tube</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the vial.</substage>
+    <substage>2. Grasp the vial with the left arm.</substage>
+    <substage>3. Move the left arm to align with the left empty slot on the rack.</substage>
+    <substage>4. Release the gripper to place the vial into the left empty slot on the rack.</substage>
+    <substage>5. Move the right arm to approach and align with the test tube.</substage>
+    <substage>6. Grasp the test tube with the right arm.</substage>
+    <substage>7. Move the right arm to align with the right empty slot on the rack.</substage>
+    <substage>8. Release the gripper to place the test tube into the right empty slot on the rack.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_plate_from_drawer_put_pink_cube_ep1.xml

@@ -0,0 +1,38 @@
+<task name="pick_plate_from_drawer_put_pink_cube_ep1">
+  <description>Use the right arm to place the pink block on the drawer onto the table, and use the left arm to place the blue block onto the pink block.</description>
+  <task_objects>
+    <object>pink block</object>
+    <object>drawer</object>
+    <object>table</object>
+    <object>blue block</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the pink block on the drawer.</substage>
+    <substage>2. Grasp the pink block with the right arm.</substage>
+    <substage>3. Move the right arm to align with the table.</substage>
+    <substage>4. Release the gripper to place the pink block onto the table.</substage>
+    <substage>5. Move the left arm to approach and align with the blue block.</substage>
+    <substage>6. Grasp the blue block with the left arm.</substage>
+    <substage>7. Move the left arm to align with the pink block.</substage>
+    <substage>8. Release the gripper to place the blue block onto the pink block.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>open</predicate>
+    <predicate>closed</predicate>
+    <predicate>partly_open</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_remote_controller_transfer_board.xml

@@ -0,0 +1,33 @@
+<task name="pick_remote_controller_transfer_board">
+  <description>Use the right arm to grasp the remote controller, transfer it to the left arm, and then place it on the chopping board.</description>
+  <task_objects>
+    <object>remote controller</object>
+    <object>chopping board</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the remote controller.</substage>
+    <substage>2. Grasp the remote controller with the right arm.</substage>
+    <substage>3. Move the right arm to a transfer position.</substage>
+    <substage>4. Move the left arm to the transfer position to receive the remote controller.</substage>
+    <substage>5. Grasp the remote controller with the left arm.</substage>
+    <substage>6. Release the remote controller from the right arm.</substage>
+    <substage>7. Move the left arm to align with the chopping board.</substage>
+    <substage>8. Release the gripper to place the remote controller on the chopping board.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pick_vial_place_right_slot.xml

@@ -0,0 +1,30 @@
+<task name="pick_vial_place_right_slot">
+  <description>Use the right arm to pick up the vial and place it in the right empty slot on the rack.</description>
+  <task_objects>
+    <object>vial</object>
+    <object>slot</object>
+    <object>rack</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the vial.</substage>
+    <substage>2. Grasp the vial with the right arm.</substage>
+    <substage>3. Move the right arm to align with the right empty slot on the rack.</substage>
+    <substage>4. Release the gripper to place the vial into the right empty slot on the rack.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/place_cube_pot_lid.xml

@@ -0,0 +1,35 @@
+<task name="place_cube_pot_lid">
+  <description>Use the right arm to place the blue cube into the pot and then place the lid on top.</description>
+  <task_objects>
+    <object>blue cube</object>
+    <object>pot</object>
+    <object>lid</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the blue cube.</substage>
+    <substage>2. Grasp the blue cube.</substage>
+    <substage>3. Move the right arm to align with the pot.</substage>
+    <substage>4. Release the gripper to place the blue cube into the pot.</substage>
+    <substage>5. Move the right arm to approach and align with the lid.</substage>
+    <substage>6. Grasp the lid.</substage>
+    <substage>7. Move the right arm to align with the pot.</substage>
+    <substage>8. Release the gripper to place the lid on top of the pot.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>lid_off</predicate>
+  </predicates>
+</task>

failtime_short/tasks/place_doll_stapler_swap.xml

@@ -0,0 +1,35 @@
+<task name="place_doll_stapler_swap">
+  <description>Use the left arm to put the white and blue doll into the green plate, and use the right arm to put the stapler into the blue plate.</description>
+  <task_objects>
+    <object>white and blue doll</object>
+    <object>green plate</object>
+    <object>stapler</object>
+    <object>blue plate</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the white and blue doll.</substage>
+    <substage>2. Grasp the white and blue doll with the left arm.</substage>
+    <substage>3. Move the left arm to align with the green plate.</substage>
+    <substage>4. Release the gripper to place the white and blue doll into the green plate.</substage>
+    <substage>5. Move the right arm to approach and align with the stapler.</substage>
+    <substage>6. Grasp the stapler with the right arm.</substage>
+    <substage>7. Move the right arm to align with the blue plate.</substage>
+    <substage>8. Release the gripper to place the stapler into the blue plate.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/place_duck_on_block.xml

@@ -0,0 +1,30 @@
+<task name="place_duck_on_block">
+  <description>Use the left arm to place the green duck on top of the green block.</description>
+  <task_objects>
+    <object>green duck</object>
+    <object>green block</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the green duck.</substage>
+    <substage>2. Grasp the green duck.</substage>
+    <substage>3. Move the left arm to align with the green block.</substage>
+    <substage>4. Release the gripper to place the green duck on top of the green block.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>stacked_on</predicate>
+  </predicates>
+</task>

failtime_short/tasks/place_green_duck_from_drawer_to_pot.xml

@@ -0,0 +1,33 @@
+<task name="place_green_duck_from_drawer_to_pot">
+  <description>Use the right arm to pick up the green duck from the drawer and place it on the red pot.</description>
+  <task_objects>
+    <object>green duck</object>
+    <object>drawer</object>
+    <object>red pot</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the green duck in the drawer.</substage>
+    <substage>2. Grasp the green duck.</substage>
+    <substage>3. Move the right arm to align with the red pot.</substage>
+    <substage>4. Release the gripper to place the green duck on the red pot.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>open</predicate>
+    <predicate>closed</predicate>
+    <predicate>partly_open</predicate>
+  </predicates>
+</task>

failtime_short/tasks/place_spoon_on_plate.xml

@@ -0,0 +1,29 @@
+<task name="place_spoon_on_plate">
+  <description>Use the left arm to place the spoon on the purple plate.</description>
+  <task_objects>
+    <object>spoon</object>
+    <object>purple plate</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the spoon.</substage>
+    <substage>2. Grasp the spoon.</substage>
+    <substage>3. Move the left arm to align with the purple plate.</substage>
+    <substage>4. Release the gripper to place the spoon on the purple plate.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pour_sausage_into_basket.xml

@@ -0,0 +1,33 @@
+<task name="pour_sausage_into_basket">
+  <description>Use the left arm to pour the sausages from the plate into the white basket.</description>
+  <task_objects>
+    <object>sausage</object>
+    <object>plate</object>
+    <object>white basket</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the plate.</substage>
+    <substage>2. Grasp the plate with the left arm.</substage>
+    <substage>3. Move the left arm to align the plate above the white basket.</substage>
+    <substage>4. Tilt the plate to pour the sausages into the white basket.</substage>
+    <substage>5. Release the plate.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>tilted_above</predicate>
+    <predicate>pouring_into</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pour_sausage_into_pot.xml

@@ -0,0 +1,38 @@
+<task name="pour_sausage_into_pot">
+  <description>Use the left arm to pour the sausages from the plate into the pot, then use the right arm to place the lid on the pot.</description>
+  <task_objects>
+    <object>sausage</object>
+    <object>plate</object>
+    <object>pot</object>
+    <object>lid</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the plate.</substage>
+    <substage>2. Grasp the plate with the left arm.</substage>
+    <substage>3. Move the left arm to align with the pot.</substage>
+    <substage>4. Pour the sausages from the plate into the pot.</substage>
+    <substage>5. Move the right arm to approach and align with the lid.</substage>
+    <substage>6. Grasp the lid with the right arm.</substage>
+    <substage>7. Move the right arm to align with the pot.</substage>
+    <substage>8. Release the gripper to place the lid on the pot.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>lid_off</predicate>
+    <predicate>tilted_above</predicate>
+    <predicate>pouring_into</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pull_bottom_drawer_put_duck_into_pot.xml

@@ -0,0 +1,36 @@
+<task name="pull_bottom_drawer_put_duck_into_pot">
+  <description>Use the right arm to pull the bottom drawer, then use the left arm to take out the orange duck in it and put the orange duck into the red pot.</description>
+  <task_objects>
+    <object>bottom drawer</object>
+    <object>orange duck</object>
+    <object>red pot</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the bottom drawer.</substage>
+    <substage>2. Grasp the bottom drawer with the right arm.</substage>
+    <substage>3. Pull the bottom drawer open using the right arm.</substage>
+    <substage>4. Move the left arm to approach and align with the orange duck inside the bottom drawer.</substage>
+    <substage>5. Grasp the orange duck with the left arm.</substage>
+    <substage>6. Move the left arm to align with the red pot.</substage>
+    <substage>7. Release the gripper to place the orange duck into the red pot.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>open</predicate>
+    <predicate>closed</predicate>
+    <predicate>partly_open</predicate>
+  </predicates>
+</task>

failtime_short/tasks/pull_top_drawer_put_controller.xml

@@ -0,0 +1,38 @@
+<task name="pull_top_drawer_put_controller">
+  <description>Use the right arm to pull the top drawer open, then use the left arm to place the remote controller into the drawer, and finally close the drawer with the right arm.</description>
+  <task_objects>
+    <object>top drawer</object>
+    <object>remote controller</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the top drawer handle.</substage>
+    <substage>2. Grasp the top drawer handle with the right arm.</substage>
+    <substage>3. Pull the top drawer open using the right arm.</substage>
+    <substage>4. Move the left arm to approach and align with the remote controller.</substage>
+    <substage>5. Grasp the remote controller with the left arm.</substage>
+    <substage>6. Move the left arm to align with the open top drawer.</substage>
+    <substage>7. Release the gripper to place the remote controller into the drawer.</substage>
+    <substage>8. Move the right arm to approach and align with the top drawer handle.</substage>
+    <substage>9. Grasp the top drawer handle with the right arm.</substage>
+    <substage>10. Push the top drawer closed using the right arm.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>open</predicate>
+    <predicate>closed</predicate>
+    <predicate>partly_open</predicate>
+  </predicates>
+</task>

failtime_short/tasks/put_doll_pink_plate_stapler_purple_plate_ep1.xml

@@ -0,0 +1,35 @@
+<task name="put_doll_pink_plate_stapler_purple_plate_ep1">
+  <description>Use the left arm to put the doll into the pink plate, and use the right arm to put the blue stapler into the purple plate.</description>
+  <task_objects>
+    <object>doll</object>
+    <object>pink plate</object>
+    <object>blue stapler</object>
+    <object>purple plate</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the yellow doll.</substage>
+    <substage>2. Grasp the yellow doll with the left arm.</substage>
+    <substage>3. Move the left arm to align with the pink plate.</substage>
+    <substage>4. Release the gripper to place the yellow doll into the pink plate.</substage>
+    <substage>5. Move the right arm to approach and align with the blue stapler.</substage>
+    <substage>6. Grasp the blue stapler with the right arm.</substage>
+    <substage>7. Move the right arm to align with the purple plate.</substage>
+    <substage>8. Release the gripper to place the blue stapler into the purple plate.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/put_pen_in_basket.xml

@@ -0,0 +1,29 @@
+<task name="put_pen_in_basket">
+  <description>Use the right arm to put the black pen into the basket.</description>
+  <task_objects>
+    <object>black pen</object>
+    <object>basket</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the right arm to approach and align with the black pen.</substage>
+    <substage>2. Grasp the black pen with the right arm.</substage>
+    <substage>3. Move the right arm to align with the basket.</substage>
+    <substage>4. Release the gripper to place the black pen into the basket.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/put_stapler_blue_plate.xml

@@ -0,0 +1,29 @@
+<task name="put_stapler_blue_plate">
+  <description>Use the left arm to put the blue stapler into the blue plate.</description>
+  <task_objects>
+    <object>blue stapler</object>
+    <object>blue plate</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the blue stapler.</substage>
+    <substage>2. Grasp the blue stapler.</substage>
+    <substage>3. Move the left arm to align with the blue plate.</substage>
+    <substage>4. Release the gripper to place the blue stapler into the blue plate.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+  </predicates>
+</task>

failtime_short/tasks/stack_cup_cola.xml

@@ -0,0 +1,35 @@
+<task name="stack_cup_cola">
+  <description>Use the left arm to pick up the purple cup and place it in the blue bowl. Then use the right arm to pick up the red coke can and place it into the purple cup.</description>
+  <task_objects>
+    <object>purple cup</object>
+    <object>blue bowl</object>
+    <object>red coke can</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the purple cup.</substage>
+    <substage>2. Grasp the purple cup with the left arm.</substage>
+    <substage>3. Move the left arm to align with the blue bowl.</substage>
+    <substage>4. Release the gripper to place the purple cup into the blue bowl.</substage>
+    <substage>5. Move the right arm to approach and align with the red coke can.</substage>
+    <substage>6. Grasp the red coke can with the right arm.</substage>
+    <substage>7. Move the right arm to align with the purple cup.</substage>
+    <substage>8. Release the gripper to place the red coke can into the purple cup.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>stacked_on</predicate>
+  </predicates>
+</task>

failtime_short/tasks/stack_cup_on_book.xml

@@ -0,0 +1,30 @@
+<task name="stack_cup_on_book">
+  <description>Use the left arm to pick up the cup and place it on top of the closed book.</description>
+  <task_objects>
+    <object>cup</object>
+    <object>closed book</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the cup.</substage>
+    <substage>2. Grasp the cup with the left arm.</substage>
+    <substage>3. Move the left arm to align with the closed book.</substage>
+    <substage>4. Release the gripper to place the cup on top of the closed book.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>stacked_on</predicate>
+  </predicates>
+</task>

failtime_short/tasks/stack_green_cup_into_purple_cup.xml

@@ -0,0 +1,30 @@
+<task name="stack_green_cup_into_purple_cup">
+  <description>Use the left arm to stack the green cup into the purple cup.</description>
+  <task_objects>
+    <object>green cup</object>
+    <object>purple cup</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the green cup.</substage>
+    <substage>2. Grasp the green cup.</substage>
+    <substage>3. Move the left arm to align with the purple cup.</substage>
+    <substage>4. Release the gripper to stack the green cup into the purple cup.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>stacked_on</predicate>
+  </predicates>
+</task>

failtime_short/tasks/stack_three_color_cubes_ep1.xml

@@ -0,0 +1,35 @@
+<task name="stack_three_color_cubes_ep1">
+  <description>Use the left arm to stack the green cube on top of the blue cube. Subsequently, use the right arm to place the red cube on top of the green one to complete the three-layer structure.</description>
+  <task_objects>
+    <object>green cube</object>
+    <object>blue cube</object>
+    <object>red cube</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the green cube.</substage>
+    <substage>2. Grasp the green cube with the left arm.</substage>
+    <substage>3. Move the left arm to align with the blue cube.</substage>
+    <substage>4. Release the gripper to stack the green cube on top of the blue cube.</substage>
+    <substage>5. Move the right arm to approach and align with the red cube.</substage>
+    <substage>6. Grasp the red cube with the right arm.</substage>
+    <substage>7. Move the right arm to align with the green cube.</substage>
+    <substage>8. Release the gripper to place the red cube on top of the green cube.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>stacked_on</predicate>
+  </predicates>
+</task>

failtime_short/tasks/stack_three_color_cubes_ep2.xml

@@ -0,0 +1,35 @@
+<task name="stack_three_color_cubes_ep2">
+  <description>Use the left arm to stack the green cube on top of the blue cube. Subsequently, use the right arm to place the red cube on top of the green one to complete the three-layer structure.</description>
+  <task_objects>
+    <object>green cube</object>
+    <object>blue cube</object>
+    <object>red cube</object>
+  </task_objects>
+  <substages>
+    <substage>1. Move the left arm to approach and align with the green cube.</substage>
+    <substage>2. Grasp the green cube with the left arm.</substage>
+    <substage>3. Move the left arm to align with the blue cube.</substage>
+    <substage>4. Release the gripper to stack the green cube on top of the blue cube.</substage>
+    <substage>5. Move the right arm to approach and align with the red cube.</substage>
+    <substage>6. Grasp the red cube with the right arm.</substage>
+    <substage>7. Move the right arm to align with the green cube.</substage>
+    <substage>8. Release the gripper to place the red cube on top of the green cube.</substage>
+  </substages>
+  <predicates>
+    <predicate>grasped</predicate>
+    <predicate>contact</predicate>
+    <predicate>near</predicate>
+    <predicate>aligned_with</predicate>
+    <predicate>inside</predicate>
+    <predicate>on_top_of</predicate>
+    <predicate>supports</predicate>
+    <predicate>separated_from</predicate>
+    <predicate>left_of</predicate>
+    <predicate>right_of</predicate>
+    <predicate>above</predicate>
+    <predicate>below</predicate>
+    <predicate>in_front_of</predicate>
+    <predicate>behind</predicate>
+    <predicate>stacked_on</predicate>
+  </predicates>
+</task>