diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..337e9e9510413409101b8b4241cf77f7075eefb7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,251 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
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 *.webm filter=lfs diff=lfs merge=lfs -text
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diff --git a/stacking_blocks_ambiguous/scene.yaml b/stacking_blocks_ambiguous/scene.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a65e04073e99f80e75d66c1d71b8dad234245f8e
--- /dev/null
+++ b/stacking_blocks_ambiguous/scene.yaml
@@ -0,0 +1,51 @@
+schema_version: '1.0'
+category: a
+name: stacking_blocks_ambiguous
+description: ARX L5 arm, a white mat on the left and a black mat on the right of the
+  third_person view. A magenta cross lies flush on the white mat. Three blocks (red,
+  green, blue) start at random non-overlapping poses on the black mat and must be
+  stacked on the cross. The instruction never states the order; the order used is
+  recorded in the executed_order attribute.
+instruction_templates:
+  all_episodes: Stack the blocks from the black mat to the white mat at the cross
+    position.
+tasks:
+  1:
+    episodes: 240
+    blocks:
+    - red
+    - green
+    - blue
+    orders:
+    - red-green-blue
+    - red-blue-green
+    - green-red-blue
+    - green-blue-red
+    - blue-red-green
+    - blue-green-red
+    episodes_per_order: 40
+order_assignment: ORDERS[(episode_id - 1) % 6]; a partial run stays balanced
+randomization:
+  cross_center:
+    region: centred square of side 0.1 m on the white mat
+    white_mat_center:
+    - 0.25
+    - -0.135
+    distribution: uniform
+  block_xy:
+    region: black mat, inset by SPAWN_MARGIN
+    black_mat_center:
+    - 0.25
+    - 0.135
+    half_extent:
+    - 0.077
+    - 0.067
+    min_center_gap_m: 0.07
+    distribution: uniform with rejection; whole set resampled if stranded
+    sampled_in: canonical color order (red, green, blue, yellow)
+  block_yaw_rad:
+  - -0.7853981633974483
+  - 0.7853981633974483
+seed_formula: seed = 100_000_000*category_code + 1_000_000*task_id + episode_id +
+  10_000*attempt, category_code = {a:1, b:2, c:3}; rng = numpy.random.default_rng(seed)
+split_rule: episode_id % 10 == 0 -> val, else train
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diff --git a/stacking_blocks_decomposed/scene.yaml b/stacking_blocks_decomposed/scene.yaml
new file mode 100644
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--- /dev/null
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+schema_version: '1.0'
+category: c
+name: stacking_blocks_decomposed
+description: 'The stacking task decomposed into its two primitives. T-MAT places a
+  named block on the cross; T-TOP places a named block onto a pre-built stack sitting
+  on the cross. Four colors: red, green, blue, yellow.'
+instruction_templates:
+  T-MAT: Place the {color} block on the white mat at the cross position.
+  T-TOP: Place the {color} block on top of the stack at the cross position.
+tasks:
+  1:
+    kind: T-MAT
+    episodes: 60
+    target: red
+    instruction: Place the red block on the white mat at the cross position.
+    init_stack: null
+    blocks_on_black_mat: 2-4, random subset always including the target
+  2:
+    kind: T-MAT
+    episodes: 60
+    target: green
+    instruction: Place the green block on the white mat at the cross position.
+    init_stack: null
+    blocks_on_black_mat: 2-4, random subset always including the target
+  3:
+    kind: T-MAT
+    episodes: 60
+    target: blue
+    instruction: Place the blue block on the white mat at the cross position.
+    init_stack: null
+    blocks_on_black_mat: 2-4, random subset always including the target
+  4:
+    kind: T-MAT
+    episodes: 60
+    target: yellow
+    instruction: Place the yellow block on the white mat at the cross position.
+    init_stack: null
+    blocks_on_black_mat: 2-4, random subset always including the target
+  5:
+    kind: T-TOP
+    episodes: 120
+    target: red
+    instruction: Place the red block on top of the stack at the cross position.
+    stack_heights:
+    - 1
+    - 2
+    - 3
+    episodes_per_height: 40
+    height_assignment: STACK_HEIGHTS[(episode_id - 1) % 3]
+    stack_colors: sampled without replacement from the three non-target colors
+    distractors: 0-2, limited to the 3 - h colors left over
+  6:
+    kind: T-TOP
+    episodes: 120
+    target: green
+    instruction: Place the green block on top of the stack at the cross position.
+    stack_heights:
+    - 1
+    - 2
+    - 3
+    episodes_per_height: 40
+    height_assignment: STACK_HEIGHTS[(episode_id - 1) % 3]
+    stack_colors: sampled without replacement from the three non-target colors
+    distractors: 0-2, limited to the 3 - h colors left over
+  7:
+    kind: T-TOP
+    episodes: 120
+    target: blue
+    instruction: Place the blue block on top of the stack at the cross position.
+    stack_heights:
+    - 1
+    - 2
+    - 3
+    episodes_per_height: 40
+    height_assignment: STACK_HEIGHTS[(episode_id - 1) % 3]
+    stack_colors: sampled without replacement from the three non-target colors
+    distractors: 0-2, limited to the 3 - h colors left over
+  8:
+    kind: T-TOP
+    episodes: 120
+    target: yellow
+    instruction: Place the yellow block on top of the stack at the cross position.
+    stack_heights:
+    - 1
+    - 2
+    - 3
+    episodes_per_height: 40
+    height_assignment: STACK_HEIGHTS[(episode_id - 1) % 3]
+    stack_colors: sampled without replacement from the three non-target colors
+    distractors: 0-2, limited to the 3 - h colors left over
+prebuilt_stack:
+  spawn: blocks at the cross, yaw 0, settled for 0.5 s before the episode starts
+  verification: intact, upright, on the cross and at rest, else the episode is resampled
+    with a derived seed
+randomization:
+  cross_center:
+    region: centred square of side 0.1 m on the white mat
+    white_mat_center:
+    - 0.25
+    - -0.135
+    distribution: uniform
+  block_xy:
+    region: black mat, inset by SPAWN_MARGIN
+    black_mat_center:
+    - 0.25
+    - 0.135
+    half_extent:
+    - 0.077
+    - 0.067
+    min_center_gap_m: 0.07
+    distribution: uniform with rejection; whole set resampled if stranded
+    sampled_in: canonical color order (red, green, blue, yellow)
+  block_yaw_rad:
+  - -0.7853981633974483
+  - 0.7853981633974483
+seed_formula: seed = 100_000_000*category_code + 1_000_000*task_id + episode_id +
+  10_000*attempt, category_code = {a:1, b:2, c:3}; rng = numpy.random.default_rng(seed)
+split_rule: episode_id % 10 == 0 -> val, else train
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