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+{"episode_index": 64, "tasks": ["Uncover the green dinosaur plush from under the pillow, then arrange the plush upright on the bed facing forward."], "length": 2814, "skill": "Sort / Arrange / Store", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 65, "tasks": ["Adjust the two bed pillows and transfer the green dinosaur plush to rest against the right pillow."], "length": 2685, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 66, "tasks": ["Place the green stuffed dinosaur between the two pink pillows on the bed."], "length": 2758, "skill": "Pick & Place", "verb": "place", "object": "dinosaur", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 67, "tasks": ["Retrieve the green plush dinosaur toy from under the pillow, pass it between the two robotic arms, and place it on the bed."], "length": 2569, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 68, "tasks": ["Uncover the green plush dinosaur from under the bed sheet and adjust it to an upright sitting position on the bed."], "length": 3263, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "dinosaur", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 69, "tasks": ["Arrange the two pink pillows on the bed, then move the green dinosaur plush to the right side of the pillows."], "length": 2559, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 72, "tasks": ["Rearrange the bed pillows and place the green dinosaur plush against the top pillow on the bed."], "length": 2934, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 73, "tasks": ["Rearrange the right bed pillow, then pass the green plush dinosaur from the left robotic gripper to the right robotic gripper."], "length": 2635, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 74, "tasks": ["Uncover the green plush dinosaur under the pillow and adjust it to sit upright on the bed."], "length": 2798, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "dinosaur", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 75, "tasks": ["Adjust the bed pillows and place the green dinosaur plush toy on the beige pillow."], "length": 2931, "skill": "Pick & Place", "verb": "adjust", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 76, "tasks": ["Pick up the green plush toy from the bed with the left robotic arm and pass it to the right robotic arm."], "length": 2708, "skill": "Pick & Place", "verb": "pick", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 77, "tasks": ["Adjust the light pink pillow on the bed and place the small white stuffed sheep next to the pillow."], "length": 2695, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 78, "tasks": ["Retrieve the white fluffy sheep plush from under the pink cushion using the two robotic arms."], "length": 2722, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "cushion", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 79, "tasks": ["Uncover the white sheep plush under the pillow, pass it from the left to the right robotic arm, and place it on the bed."], "length": 2304, "skill": "Handover / Deliver", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 82, "tasks": ["Retrieve the white fluffy plush toy from under the light pink pillow on the bed."], "length": 2242, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 86, "tasks": ["Pick up the white plush bear and place it on the light pink pillow."], "length": 2313, "skill": "Pick & Place", "verb": "pick", "object": "bear", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 88, "tasks": ["Rearrange the bed pillows and place the pink unicorn plush upright next to the brown pillow."], "length": 3052, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 89, "tasks": ["Expose the pink stuffed toy under the orange pillow on the bed, then adjust the positions of the pillow and the stuffed toy."], "length": 3362, "skill": "Pick & Place", "verb": "expose", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 90, "tasks": ["Retrieve the pink plush hidden under the brown pillow, pass it from the left robotic arm to the right robotic arm, and place the plush upright on the bed."], "length": 2934, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 91, "tasks": ["Adjust the bed pillows, transfer the white stuffed lamb toy from the left robotic arm to the right robotic arm, and place the lamb on the pink pillow."], "length": 2083, "skill": "Handover / Deliver", "verb": "adjust", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 92, "tasks": ["Uncover the pink plush toy behind the orange pillow and grasp the plush toy."], "length": 2940, "skill": "Pick & Place", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 93, "tasks": ["Take the white sheep plush from under the light pink pillow and place it on top of the light pink pillow."], "length": 2327, "skill": "Pick & Place", "verb": "take", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 94, "tasks": ["Retrieve the pink plush toy hidden under the light brown pillow and place it on the open bed surface."], "length": 3198, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 95, "tasks": ["Retrieve the pink plush toy hidden under the light brown pillow and place it on the open bed surface."], "length": 3361, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 96, "tasks": ["Uncover the pink unicorn plush hidden under the orange pillow and place it to lean against the orange pillow."], "length": 3264, "skill": "Pick & Place", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 97, "tasks": ["Retrieve the white stuffed lamb from under the gray pillow and arrange both the pillow and lamb on the bed."], "length": 2166, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 98, "tasks": ["Retrieve the pink plush toy from under the beige pillow and place it on the bed surface."], "length": 3091, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 99, "tasks": ["Rearrange the stacked pillows and place the hidden pink stuffed animal between them on the bed."], "length": 3362, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 100, "tasks": ["Retrieve the pink stuffed animal hidden under the brown patterned pillow and place it on the open bed surface."], "length": 2947, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "animal", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 101, "tasks": ["Rearrange the gray pillow and white plush toy on the bed."], "length": 2212, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 102, "tasks": ["Pass the white plush toy from the left robotic arm to the right robotic arm after repositioning the gray pillow."], "length": 1979, "skill": "Handover / Deliver", "verb": "pass", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 103, "tasks": ["Uncover the pink plush toy under the patterned pillow, then position the plush upright on the bed."], "length": 2789, "skill": "Pick & Place", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 104, "tasks": ["Arrange the bed pillows and position the pink unicorn plush upright against the brown patterned pillow."], "length": 3304, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 105, "tasks": ["Reposition the gray pillow and small plush toy on the bed."], "length": 1737, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 107, "tasks": ["Adjust the position of the grey bed pillow, then place the white plush toy onto the adjusted grey pillow."], "length": 1831, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 108, "tasks": ["Prop up the brown patterned pillow on the bed and place the pink stuffed unicorn against it."], "length": 3362, "skill": "Pick & Place", "verb": "prop", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 109, "tasks": ["Move the gray pillow to the right side of the bed and adjust the white stuffed animal's position on the bed."], "length": 3361, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 110, "tasks": ["Rearrange the pillows on the bed and place the pink plush toy to the right of the brown patterned pillow."], "length": 2021, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 111, "tasks": ["Place the white plush toy upright on the gray pillow on the bed."], "length": 3361, "skill": "Pick & Place", "verb": "place", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 112, "tasks": ["Prop the gray pillow against the bed headboard and place the white plush toy leaning against the propped gray pillow."], "length": 3362, "skill": "Pick & Place", "verb": "prop", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 113, "tasks": ["Arrange the bed items to set the plush toy on top of the grey pillow."], "length": 3107, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 114, "tasks": ["Rearrange the bed pillows and grasp the pink plush toy on the bed."], "length": 1911, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 115, "tasks": ["Move the bed pillows to expose and reposition the white plush toy on the bed."], "length": 3173, "skill": "Move / Transport / Lift", "verb": "move", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 116, "tasks": ["Arrange the gray pillow and white stuffed toy on the bed into an orderly state."], "length": 3046, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 117, "tasks": ["Arrange the pillows on the bed and place the white plush toy onto the dark grey pillow."], "length": 3362, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 118, "tasks": ["Retrieve the pink plush toy hidden under the bed pillow and transfer it from the left to the right robotic gripper."], "length": 2155, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 119, "tasks": ["Rearrange the pillows on the bed to expose and adjust the position of the hidden white plush toy."], "length": 3354, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 120, "tasks": ["Retrieve the white stuffed dog from under the gray pillow and place it upright on top of the gray pillow."], "length": 3361, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "dog", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 121, "tasks": ["Retrieve the pink stuffed dinosaur and pass it from the left robotic arm to the right robotic arm."], "length": 2547, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "dinosaur", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 122, "tasks": ["Retrieve the white plush toy from under the gray pillow and adjust its position on the bed."], "length": 3193, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 123, "tasks": ["Move the pillows aside to expose the pink unicorn plush, then grasp and adjust the plush toy using the two robotic arms."], "length": 2123, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 124, "tasks": ["Adjust the grey bed pillow and place the white plush dog toy against the pillow."], "length": 3090, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 125, "tasks": ["Reposition the gray pillow and adjust the white plush toy with red clothes to an upright sitting position on the bed."], "length": 3087, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 126, "tasks": ["Uncover the pink fluffy sheep plush under the gray pillow and arrange the pillow and plush on the bed."], "length": 2781, "skill": "Sort / Arrange / Store", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 127, "tasks": ["Rearrange the gray pillow, bed sheet, and pink sheep plush on the bed to position the sheep next to the pillow."], "length": 2814, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 128, "tasks": ["Arrange the dark gray pillow and pink plush sheep on the bed with the plush positioned next to the pillow."], "length": 2956, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 129, "tasks": ["Arrange the bed pillows and place the hidden pink plush toy onto the bed near the brown pillow."], "length": 2112, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 130, "tasks": ["Retrieve the light pink sheep plush from under the gray pillow and reposition it on the bed."], "length": 2997, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 131, "tasks": ["Arrange the white plush toy to sit upright against the gray pillow on the bed."], "length": 3362, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 132, "tasks": ["Reveal the pink sheep plush hidden under the gray bed pillow, then adjust the positions of the pillow and the plush."], "length": 2656, "skill": "Open / Close / Device Op", "verb": "reveal", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 133, "tasks": ["Move the gray pillow aside to expose the pink stuffed lamb, then flip the lamb to display its front face."], "length": 3062, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 134, "tasks": ["Rearrange the bed pillows to reveal the hidden pink plush toy, then grasp and inspect the pink plush toy."], "length": 2215, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 135, "tasks": ["Adjust the gray pillow on the bed and place the white plush toy with brown ears onto the pillow."], "length": 3350, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 136, "tasks": ["Adjust the dark gray bed pillow and reposition the pink plush sheep toy on the bed."], "length": 2721, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 137, "tasks": ["Move the brown patterned pillow leftward, then place the pink plush toy on the right side of the bed next to the pillow using both robotic arms."], "length": 2217, "skill": "Move / Transport / Lift", "verb": "move", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 138, "tasks": ["Adjust the gray pillow to reveal the hidden pink sheep plush, then position the plush against the pillow."], "length": 2772, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 139, "tasks": ["Arrange the bed by moving the gray pillow left, smoothing the bedsheet, and placing the pink plush against the pillow."], "length": 2955, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 140, "tasks": ["Retrieve the pink plush toy from under the brown pillow and pass it from the left robotic arm to the right robotic arm."], "length": 2803, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 141, "tasks": ["Retrieve the pink plush toy under the dark gray pillow and place it upright on the bed next to the pillow."], "length": 2847, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 142, "tasks": ["Retrieve the light pink fluffy sheep plush hidden under the dark gray pillow, then place the plush to lean against the pillow on the bed."], "length": 3334, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 143, "tasks": ["Adjust the position of the brown patterned pillow and place the pink plush toy onto the bed near the pillow."], "length": 2558, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 144, "tasks": ["Place the white stuffed toy with brown ears against the gray pillow on the bed."], "length": 3111, "skill": "Pick & Place", "verb": "place", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 145, "tasks": ["Place the pink plush toy adjacent to the brown patterned pillow on the bed."], "length": 2318, "skill": "Pick & Place", "verb": "place", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 146, "tasks": ["Lift the gray pillow to reveal the pink plush sheep underneath, then adjust and reposition the pink plush sheep on the bed."], "length": 2476, "skill": "Move / Transport / Lift", "verb": "lift", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 147, "tasks": ["Uncover the pink sheep plush under the dark gray pillow on the bed, then adjust the sheep's position."], "length": 2625, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 148, "tasks": ["Retrieve the pink sheep plush toy from under the dark gray pillow and place it on the bed surface next to the pillow."], "length": 2627, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 149, "tasks": ["Arrange the pillows on the bed and position the pink plush toy upright between them."], "length": 2573, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 150, "tasks": ["Move the gray pillow to reveal the white plush sheep underneath, then position the sheep next to the pillow."], "length": 3307, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 151, "tasks": ["Retrieve the pink stuffed unicorn hidden under the brown patterned pillow on the bed."], "length": 3173, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 152, "tasks": ["Adjust the gray pillow and bedspread on the bed, then transfer a white plush toy from the left robotic arm to the right robotic arm."], "length": 2391, "skill": "Handover / Deliver", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 153, "tasks": ["Place the white fluffy plush toy onto the light pink pillow on the bed."], "length": 3201, "skill": "Pick & Place", "verb": "place", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 154, "tasks": ["Uncover the white sheep plush toy from under the pink pillow, arrange the pillow, and place the plush onto the pillow."], "length": 3359, "skill": "Sort / Arrange / Store", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 155, "tasks": ["Move the gray pillow to reveal the hidden white plush toy, then transfer the plush to the right side of the bed."], "length": 2273, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 156, "tasks": ["Retrieve the white sheep plush from under the pillow, then arrange the pillow and sheep on the bed."], "length": 3362, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 157, "tasks": ["Arrange the grey pillow and white plush toy to proper positions on the bed."], "length": 2230, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 158, "tasks": ["Adjust the position of the grey bed pillow, then place the small white plush toy onto the adjusted pillow."], "length": 2603, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 161, "tasks": ["Adjust the pink bed pillow and place the white plush sheep against the adjusted pillow."], "length": 3333, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 162, "tasks": ["Rearrange the grey pillow and white plush toy on the bed to their target positions."], "length": 2500, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 163, "tasks": ["Rearrange the two pillows on the bed, then adjust the position of the pink unicorn plush toy."], "length": 2858, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 176, "tasks": ["Adjust the gray pillow on the bed and position the white stuffed sheep upright next to the pillow."], "length": 3101, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 199, "tasks": ["Adjust the light grey pillow on the bed and place the white plush toy onto the pillow."], "length": 2277, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 200, "tasks": ["Adjust the gray pillow's position and place the white plush toy onto it."], "length": 2257, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 201, "tasks": ["Arrange the gray pillow and white plush toy at appropriate positions on the bed."], "length": 2104, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 202, "tasks": ["Move the grey pillow covering the white plush toy aside, then grasp and adjust the plush toy on the bed."], "length": 2487, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 218, "tasks": ["Reposition the gray pillow and pass the pink plush toy from the right robotic arm to the left robotic arm."], "length": 2385, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 219, "tasks": ["Uncover the stuffed dog hidden under the pillow, then grasp and place the stuffed dog on the bed."], "length": 1965, "skill": "Pick & Place", "verb": "uncover", "object": "dog", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 230, "tasks": ["Remove the gray fabric on the bed to reveal the hidden pink plush toy, then grasp and adjust the pink plush toy."], "length": 2583, "skill": "Remove / Retrieve", "verb": "remove", "object": "fabric", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 231, "tasks": ["Rearrange the gray pillow and stand the pink unicorn plush upright on the bed."], "length": 2688, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 232, "tasks": ["Uncover the pink unicorn plush from under the grey long cushion and arrange the plush to sit upright on the bed."], "length": 2335, "skill": "Sort / Arrange / Store", "verb": "uncover", "object": "cushion", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 233, "tasks": ["Uncover the pink stuffed animal under the gray pillow and adjust it to sit upright on the bed."], "length": 2679, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "animal", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 238, "tasks": ["Arrange the gray pillow and pink plush unicorn on the bed so the unicorn stands upright."], "length": 2465, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 241, "tasks": ["Arrange the gray blanket and pink plush toy neatly on the bed."], "length": 2539, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "blanket", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 242, "tasks": ["Arrange the gray pillow, folded quilt, and pink plush toy neatly on the bed."], "length": 2715, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 244, "tasks": ["Unfold the folded bed quilt, adjust the gray pillow position, and adjust the pink plush toy placement."], "length": 2539, "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 245, "tasks": ["Uncover the partially hidden pink plush toy, pass it from the left robotic arm to the right robotic arm, then place the plush on the bed."], "length": 2845, "skill": "Handover / Deliver", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 247, "tasks": ["Arrange the gray pillow, bed linen, and pink plush toy on the bed."], "length": 2353, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 248, "tasks": ["Uncover the pink plush doll hidden under the pillow and move the doll across the bed."], "length": 2850, "skill": "Pick & Place", "verb": "uncover", "object": "doll", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 249, "tasks": ["Uncover the orange plush toy hidden under the pillows and grasp it."], "length": 2373, "skill": "Pick & Place", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 250, "tasks": ["Uncover the pink plush toy under the pillow, transfer the plush between the two robotic arms, then place it back on the bed."], "length": 2909, "skill": "Handover / Deliver", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 251, "tasks": ["Arrange the gray pillow, bed sheet, and brown plush toy on the bed."], "length": 2483, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 252, "tasks": ["Uncover the pink plush toy from under the bed comforter, then grasp and transfer it from the left robotic arm to the right robotic arm."], "length": 2717, "skill": "Handover / Deliver", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 253, "tasks": ["Move the gray pillow aside and adjust the orange plush toy to stand upright on the bed."], "length": 2494, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 254, "tasks": ["Move the gray pillow aside to expose the brown plush toy, then adjust the plush to stand upright on the bed."], "length": 2782, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 256, "tasks": ["Arrange the orange stuffed toy to sit upright on the bed."], "length": 2466, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 262, "tasks": ["Locate the pink plush toy under the pillow, grasp it, and reposition it on the bed."], "length": 2881, "skill": "Pick & Place", "verb": "locate", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 264, "tasks": ["Uncover the pink stuffed toy from under the bed duvet and pick it up."], "length": 2868, "skill": "Pick & Place", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 267, "tasks": ["Stand the orange plush toy upright on the bed after adjusting the gray pillow's position."], "length": 2595, "skill": "Move / Transport / Lift", "verb": "stand", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 268, "tasks": ["Reposition the gray pillow and adjust the placement of the orange stuffed toy on the bed."], "length": 2452, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 280, "tasks": ["Move the central square pillow to the right, grasp the pink plush toy, pass it to the right arm, and place the plush upright on the bed."], "length": 2447, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 282, "tasks": ["Adjust the gray pillow on the bed and manipulate the small white plush sheep on the bed."], "length": 2514, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 283, "tasks": ["Rearrange the gray pillow and pink sheep plush on the bed to adjust their positions."], "length": 2427, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 284, "tasks": ["Uncover the white fluffy sheep plush from under the gray pillow on the bed, then arrange the pillow and plush on the bed."], "length": 2366, "skill": "Sort / Arrange / Store", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 285, "tasks": ["Arrange the stacked bed pillows and adjust the hidden white sheep plush to an upright standing position."], "length": 2359, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 286, "tasks": ["Retrieve the pink plush toy and place it upright on the bed surface."], "length": 2705, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 287, "tasks": ["Arrange the gray pillow, bed sheet, and white sheep plush neatly on the bed."], "length": 2436, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 289, "tasks": ["Adjust the gray pillow on the bed and arrange the light pink fluffy sheep plush to stand upright."], "length": 2319, "skill": "Sort / Arrange / Store", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 290, "tasks": ["Reposition the center pillow, then place the pink plush toy onto the repositioned pillow."], "length": 2410, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 292, "tasks": ["Retrieve the pink plush toy next to the pillow and place it upright on the bed."], "length": 2414, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 293, "tasks": ["Lift the bed pillow to access the area underneath, then grasp and lift the small pink plush toy."], "length": 2612, "skill": "Move / Transport / Lift", "verb": "lift", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 294, "tasks": ["Adjust the gray pillow and bedsheet, then place the pink fluffy sheep plushie against the pillow on the bed."], "length": 2517, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 297, "tasks": ["Adjust the bed quilt by moving the grey pillow aside, then place the white sheep plush toy leaning against the grey pillow."], "length": 2544, "skill": "Pick & Place", "verb": "adjust", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 298, "tasks": ["Rearrange the gray pillow and light pink plush lamb on the bed so the lamb sits leaning against the pillow."], "length": 2523, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 304, "tasks": ["Retrieve the pink plush toy hidden behind the long striped pillow on the bed."], "length": 2522, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 308, "tasks": ["Uncover the pink plush toy hidden under the pillow and adjust its position on the bed."], "length": 2093, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 310, "tasks": ["Reveal the hidden pink plush toy and arrange it to face forward on the bed."], "length": 2421, "skill": "Sort / Arrange / Store", "verb": "reveal", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 312, "tasks": ["Move the pillow to fully expose the pink plush toy, then pick the toy and pass it from the right to the left robotic gripper."], "length": 2237, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 317, "tasks": ["Retrieve the pink plush toy hidden under the pillow and hold it with the left robotic gripper."], "length": 2351, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 319, "tasks": ["Retrieve the pink stuffed toy hidden behind the gray-blue patterned pillow on the bed."], "length": 2387, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 322, "tasks": ["Move the gray pillow aside, then grasp, pass, and reposition the pink stuffed toy on the bed."], "length": 2366, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 323, "tasks": ["Adjust the two pillows on the bed and place the pink plush toy upright on the bed between the pillows."], "length": 2540, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 324, "tasks": ["Pick up the pink plush toy that is under the pillow on the bed."], "length": 2153, "skill": "Pick & Place", "verb": "pick", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 325, "tasks": ["Adjust the bed pillow and sheet edge, then move the pink plush toy to the left side of the pillow."], "length": 2268, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 326, "tasks": ["Arrange the blue-gray geometric pillow and pink plush toy on the bed into their intended positions."], "length": 2303, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 327, "tasks": ["Uncover the geometric pillow to fully reveal the pink plush doll, then adjust the position of the pink plush doll."], "length": 2190, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 328, "tasks": ["Use the two robotic arms to arrange the bedsheets, adjust the central pillow, and reposition the pink plush toy."], "length": 2480, "skill": "Sort / Arrange / Store", "verb": "use", "object": "bedsheet", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 329, "tasks": ["Cover the pink plush toy with the gray pillow, then uncover it and reposition the plush on the bed."], "length": 2547, "skill": "Open / Close / Device Op", "verb": "cover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 331, "tasks": ["Adjust the position of the gray pillow, then grasp the pink plush toy and place it onto the gray pillow."], "length": 2536, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 332, "tasks": ["Rearrange the bedding on the bed to expose the hidden pink plush toy and adjust the plush to an upright position."], "length": 2214, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 333, "tasks": ["Retrieve the pink stuffed doll hidden behind the pillow on the bed using the two robotic arms."], "length": 2327, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "doll", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 335, "tasks": ["Pick up the pink stuffed toy from the bed, pass it between the two robotic arms, and place it on the bed surface."], "length": 2447, "skill": "Pick & Place", "verb": "pick", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 336, "tasks": ["Rearrange the gray pillow and pink plush toy into their target positions on the bed."], "length": 2373, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 337, "tasks": ["Flip the two gray pillows, then place the pink plush toy onto the right gray pillow."], "length": 2577, "skill": "Press / Push-Pull / Rotate", "verb": "flip", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 338, "tasks": ["Lift the gray pillow to expose the hidden pink plush toy, then place the plush upright on the bed next to the pillow."], "length": 2546, "skill": "Move / Transport / Lift", "verb": "lift", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 339, "tasks": ["Unfold the gray bed quilt to expose the hidden white plush sheep, then grasp and lift the sheep with the robotic arms."], "length": 2218, "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 340, "tasks": ["Pick the pink plush toy from under the gray pillow and place it on the bed."], "length": 2620, "skill": "Pick & Place", "verb": "pick", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 341, "tasks": ["Uncover the pink pillow under the dark gray pillow, adjust the pillows, and position the small white stuffed animal upright on the bed."], "length": 2281, "skill": "Pick & Place", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 342, "tasks": ["Uncover the white fluffy plush toy hidden under the gray bed sheet and adjust its position on the bed."], "length": 2206, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 343, "tasks": ["Retrieve the pink plush toy from under the gray pillow, adjust the pillow's position, and place the plush next to the pillow."], "length": 2967, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 344, "tasks": ["Uncover the pink pillow under the gray bedspread, adjust the pillow, and make the white plush lamb stand upright on the bed."], "length": 2275, "skill": "Pick & Place", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 345, "tasks": ["Uncover the white plush sheep toy from under the grey pillow and adjust the positions of the pillow and sheep on the bed."], "length": 2088, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 537, "tasks": ["Arrange the patterned long pillow and white plush toy on the bed, revealing the underlying pink pillow in the process."], "length": 1945, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 538, "tasks": ["Rearrange the pillows and white plush toy on the bed."], "length": 2520, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 540, "tasks": ["Rearrange the bed pillows and place the white plush toy adjacent to the brown patterned pillow."], "length": 2201, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 541, "tasks": ["Arrange the pillows and white plush toy on the bed to separate the two pillows and place the plush between them."], "length": 2319, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 544, "tasks": ["Uncover the white fluffy sheep plush under the pink pillow and arrange the positions of the pillow and the plush on the bed."], "length": 2410, "skill": "Sort / Arrange / Store", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 545, "tasks": ["Retrieve the white fluffy sheep plush from under the pink pillow and place it against the pillow."], "length": 2580, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 546, "tasks": ["Retrieve the white plush sheep hidden under the pink pillow on the bed."], "length": 2255, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 547, "tasks": ["Adjust the gray bed pillow and orange sheet, then transfer the white plush toy from the right robotic gripper to the left robotic gripper."], "length": 2440, "skill": "Handover / Deliver", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 548, "tasks": ["Move the grey pillow and bedsheet aside, then reposition the white stuffed toy on the bed."], "length": 2539, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 552, "tasks": ["Pick the white plush toy hidden beneath the gray pillow on the bed."], "length": 2420, "skill": "Pick & Place", "verb": "pick", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 559, "tasks": ["Pick the white plush toy hidden under the gray pillow on the bed and interact with it."], "length": 2484, "skill": "Pick & Place", "verb": "pick", "object": "toy", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 567, "tasks": ["Rearrange the gray pillow, small orange cushion, and white plush toy on the bed."], "length": 2700, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 568, "tasks": ["Adjust the position of the brown pillow, then grasp and interact with the white plush lamb on the bed."], "length": 2420, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 571, "tasks": ["Place the white plush sheep upright against the light pink pillow on the bed."], "length": 2546, "skill": "Pick & Place", "verb": "place", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 572, "tasks": ["Retrieve the white plush sheep hidden under the light pink pillow and place it on the exposed bed surface."], "length": 2281, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 580, "tasks": ["Arrange bed items to place the white plush toy in an upright standing position on the bed."], "length": 2742, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 581, "tasks": ["Rearrange the two pillows on the bed to access the white sheep plush toy, then pass the sheep between the right and left robotic grippers."], "length": 2532, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 582, "tasks": ["Reposition the brown bed pillow to fully reveal the white sheep plush, then play with the plush using the two robotic arms."], "length": 2387, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 583, "tasks": ["Adjust the pink bed pillow and bed cover, then place the white fluffy sheep plush onto the adjusted pink pillow."], "length": 2494, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 584, "tasks": ["Move the light pink pillow on the bed, then adjust the white plush toy to stand upright on the bedspread."], "length": 2399, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 585, "tasks": ["Adjust the bed pillows and manipulate the white stuffed sheep on the bed."], "length": 2436, "skill": "Fold / Unfold (Deformable)", "verb": "adjust", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
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+{"episode_index": 587, "tasks": ["Retrieve the white stuffed sheep from under the pillow and transfer it to the left robotic gripper."], "length": 2260, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 603, "tasks": ["Arrange the gray pillow, straighten the bed sheet, and place the pink plush toy against the gray pillow on the bed."], "length": 3362, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 604, "tasks": ["Adjust the gray pillow on the bed and place the pink plush toy against the pillow."], "length": 3360, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
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+{"episode_index": 610, "tasks": ["Arrange the two bed pillows and the white sheep plush on the bed."], "length": 2978, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 611, "tasks": ["Adjust the bed pillows and place the white fluffy sheep plush next to the brown pillow on the bed."], "length": 2844, "skill": "Pick & Place", "verb": "adjust", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 612, "tasks": ["Adjust the brown bed pillow and position the white fluffy sheep plush against the pillow."], "length": 2884, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 613, "tasks": ["Adjust the brown pillow on the bed and place the white fluffy sheep plush against the pillow."], "length": 2858, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 614, "tasks": ["Arrange the brown pillow and white plush sheep neatly on the bed."], "length": 2901, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 615, "tasks": ["Retrieve the white plush sheep from under the front brown pillow and place it on the bed next to the pillow."], "length": 2610, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 616, "tasks": ["Arrange the bed by adjusting the pillows and placing the white stuffed lamb on the brown pillow."], "length": 2885, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 617, "tasks": ["Arrange the white plush sheep next to the brown pillow on the bed."], "length": 3066, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 618, "tasks": ["Adjust the brown bed pillow and place the white fluffy sheep plush against it."], "length": 2628, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 619, "tasks": ["Retrieve the white plush sheep hidden under the brown pillow and place it on top of the brown pillow."], "length": 2389, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 620, "tasks": ["Adjust the brown bed pillow and position the white sheep plush against it on the bed."], "length": 2772, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 621, "tasks": ["Expose the white sheep plush toy from under the brown pillow and arrange it upright next to the pillow."], "length": 2532, "skill": "Sort / Arrange / Store", "verb": "expose", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 622, "tasks": ["Place the white plush lamb toy onto the brown pillow on the bed."], "length": 2390, "skill": "Pick & Place", "verb": "place", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 623, "tasks": ["Remove the inner pillow from the brown pillow cover and place the white fluffy sheep plush upright on the bed."], "length": 3252, "skill": "Remove / Retrieve", "verb": "remove", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 624, "tasks": ["Retrieve the pink plush toy hidden under the gray pillow on the bed and arrange the pillow and plush toy on the bed."], "length": 2653, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 625, "tasks": ["Retrieve the pink plush toy hidden under the gray pillow and place it next to the pillow on the bed."], "length": 2522, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 626, "tasks": ["Move the pink plush toy from under the gray pillow onto the gray pillow."], "length": 2570, "skill": "Move / Transport / Lift", "verb": "move", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 627, "tasks": ["Uncover the pink plush toy under the gray pillow, grasp the toy, and place it on the bed next to the pillow."], "length": 2746, "skill": "Pick & Place", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 628, "tasks": ["Retrieve the pink stuffed toy from under the gray pillow on the bed, then manipulate the toy with the two robotic grippers."], "length": 2574, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 629, "tasks": ["Uncover the pink plush toy by moving the gray pillow, then place the plush next to the gray pillow."], "length": 2843, "skill": "Pick & Place", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 630, "tasks": ["Uncover the pink plush toy from under the gray pillow, then place the plush toy against the gray pillow on the bed."], "length": 2813, "skill": "Pick & Place", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 631, "tasks": ["Retrieve the pink plush doll from under the gray pillow and place it next to the gray pillow on the bed."], "length": 2702, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "doll", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 632, "tasks": ["Lift the gray pillow to access the pink plush toy, then place the plush against the pillow on the bed."], "length": 2611, "skill": "Move / Transport / Lift", "verb": "lift", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 633, "tasks": ["Retrieve the pink plush toy from under the gray pillow on the bed and transfer it between the two robotic grippers."], "length": 2481, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 634, "tasks": ["Move the gray pillow to the right side of the bed, then place the pink plush toy next to the pillow."], "length": 2555, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 635, "tasks": ["Reposition the gray pillow to reveal the pink plush toy, then place the pink plush toy against the gray pillow."], "length": 2586, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 636, "tasks": ["Rearrange the gray pillow and adjust the position of the pink plush toy on the bed."], "length": 3057, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 637, "tasks": ["Lift the gray pillow to reveal the pink plush toy beneath, then grasp the plush and place it against the gray pillow."], "length": 2579, "skill": "Move / Transport / Lift", "verb": "lift", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 638, "tasks": ["Adjust the gray pillow on the bed and place the pink stuffed toy next to the pillow."], "length": 2709, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 639, "tasks": ["Uncover the pink plush toy under the grey pillow and place the plush next to the pillow."], "length": 2264, "skill": "Pick & Place", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 640, "tasks": ["Reveal the pink plush toy under the grey pillow and place the plush beside the pillow on the bed."], "length": 2652, "skill": "Pick & Place", "verb": "reveal", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 641, "tasks": ["Retrieve the pink plush toy under the gray pillow and place it on the bed beside the pillow."], "length": 2507, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 642, "tasks": ["Remove the pink plush toy from under the gray pillow and hold it with the two robotic grippers."], "length": 2544, "skill": "Remove / Retrieve", "verb": "remove", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 643, "tasks": ["Retrieve the pink plush toy from under the gray pillow and place it on top of the gray pillow."], "length": 2348, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 644, "tasks": ["Retrieve the hidden pink plush toy and place it leaning against the gray pillow on the bed."], "length": 3361, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 645, "tasks": ["Retrieve the pink plush toy under the grey pillow, check under the orange pillow, then examine the retrieved plush toy."], "length": 2827, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 646, "tasks": ["Uncover the pink plush toy hidden under the gray pillow and light brown cushion, then retrieve and place it on the bed."], "length": 2387, "skill": "Remove / Retrieve", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 647, "tasks": ["Rearrange the bed pillows to reveal the hidden pink plush toy and position the plush upright against the gray pillow."], "length": 2520, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 648, "tasks": ["Uncover the pink plush toy hidden under the gray cushion, move the orange cloth aside, and arrange the plush to stand upright next to the cushion."], "length": 2774, "skill": "Sort / Arrange / Store", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 649, "tasks": ["Rearrange the bed pillows to reveal the hidden pink stuffed toy, then adjust the toy's position on the bed."], "length": 3062, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 650, "tasks": ["Arrange the bed pillows and place the pink plush toy next to the gray pillow."], "length": 2935, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 651, "tasks": ["Retrieve the hidden pink plush toy from under the gray pillow, interact with it, and place it on the bed surface."], "length": 2688, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 652, "tasks": ["Retrieve the pink plush toy from under the gray pillow and place it upright next to the gray pillow on the bed."], "length": 2308, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 653, "tasks": ["Retrieve the hidden pink plush toy from under the gray pillow, remove the orange blanket from the bed, and place the plush upright against the gray pillow."], "length": 2553, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 654, "tasks": ["Retrieve the pink plush toy hidden under the gray pillow on the bed and adjust its position."], "length": 2493, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 655, "tasks": ["Reveal the pink plush toy hidden under the grey bed pillow, then interact with the plush and adjust the pillow."], "length": 3361, "skill": "Open / Close / Device Op", "verb": "reveal", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 656, "tasks": ["Arrange the pillows and pink plush toy on the bed."], "length": 2741, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 657, "tasks": ["Retrieve the pink plush toy from under the gray pillow and place it upright against the pillow on the bed."], "length": 2763, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 658, "tasks": ["Rearrange the stacked pillows and place the pink plush toy next to the gray pillow on the bed."], "length": 3362, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 659, "tasks": ["Adjust the bed pillows and interact with the pink stuffed toy on the bed."], "length": 2942, "skill": "Fold / Unfold (Deformable)", "verb": "adjust", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 660, "tasks": ["Uncover the pink plush toy hidden under the grey bed pillow, interact with the plush, then rearrange the bed pillows."], "length": 2658, "skill": "Sort / Arrange / Store", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 661, "tasks": ["Retrieve the pink plush toy hidden behind the gray bed pillow, interact with it, then place it on the bedding next to the pillow."], "length": 2750, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 662, "tasks": ["Adjust the pink pillow and bedspread, then arrange the white stuffed sheep on the bed."], "length": 2721, "skill": "Sort / Arrange / Store", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 663, "tasks": ["Arrange the pillow, orange cloth, and white sheep plush on the bed."], "length": 2697, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 664, "tasks": ["Retrieve the hidden white sheep plush under the light pink pillow by moving the bed pillows aside, then present the plush."], "length": 2769, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 665, "tasks": ["Retrieve the white plush sheep from behind the pillow, place it upright on the bed, and adjust its position."], "length": 2566, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 666, "tasks": ["Arrange the bed pillows and position the white stuffed lamb upright on the bed."], "length": 2603, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 667, "tasks": ["Move the two pillows on the bed to reveal a white sheep plush toy, then play with the plush toy."], "length": 2779, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 668, "tasks": ["Locate the white sheep plush under the bed pillows and position it next to the light pink pillow."], "length": 3002, "skill": "Pick & Place", "verb": "locate", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 669, "tasks": ["Arrange the light pink pillow, bed cover, and white sheep plush on the bed neatly."], "length": 2476, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 670, "tasks": ["Reposition the bed pillows and interact with the white stuffed sheep on the bed."], "length": 2669, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 671, "tasks": ["Arrange the pillows and white plush sheep toy on the bed."], "length": 2610, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 672, "tasks": ["Arrange the pillow, fabric, and white plush sheep in proper positions on the bed."], "length": 2525, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 673, "tasks": ["Rearrange the bed pillows and place the white fluffy sheep plush next to the light pink pillow."], "length": 2963, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 674, "tasks": ["Retrieve the white sheep plush hidden under the light pink bed pillow and stand it upright next to the pillow."], "length": 2790, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 675, "tasks": ["Arrange the light pink pillow, light orange cloth, and white plush sheep on the bed."], "length": 2620, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 676, "tasks": ["Move the two pillows aside and place the white fluffy sheep plush next to the light pink pillow on the bed."], "length": 2358, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 677, "tasks": ["Retrieve the white plush sheep hidden behind the light pink pillow, adjust the bed pillows, and place the sheep against the light orange pillow."], "length": 2673, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 678, "tasks": ["Rearrange the two bed pillows and position the white plush sheep toy upright between them on the bed."], "length": 2625, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 679, "tasks": ["Uncover the pink plush toy under the gray pillow and place it next to the gray pillow on the bed."], "length": 2609, "skill": "Pick & Place", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 680, "tasks": ["Retrieve the pink plush toy hidden behind the gray pillow and manipulate it using the two robotic arms."], "length": 2408, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 681, "tasks": ["Rearrange the gray pillow and brown fabric on the bed, then pass the pink plush toy from the right robotic arm to the left robotic arm."], "length": 2461, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 682, "tasks": ["Uncover the hidden pink plush toy, adjust the bed pillows, and pass the plush between the two robotic arms."], "length": 2777, "skill": "Handover / Deliver", "verb": "uncover", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 683, "tasks": ["Rearrange the cushions on the bed and place the pink plush toy against the dark gray cushion."], "length": 2717, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "cushion", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 684, "tasks": ["Retrieve the pink plush toy hidden under the gray pillow on the bed, inspect it, and place it next to the pillow."], "length": 2451, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 685, "tasks": ["Retrieve the pink plush toy hidden behind the gray pillow on the bed and place it next to the pillow."], "length": 2574, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 686, "tasks": ["Adjust the pillow and remove the cloth on the bed to interact with the hidden pink plush toy."], "length": 2420, "skill": "Fold / Unfold (Deformable)", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 687, "tasks": ["Reveal the pink plush toy under the gray pillow, remove the orange cloth, and adjust the plush's position on the bed."], "length": 2522, "skill": "Open / Close / Device Op", "verb": "reveal", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 688, "tasks": ["Move the gray pillow aside, remove the orange cloth, and place the pink plush toy in a new position on the bed."], "length": 2588, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 689, "tasks": ["Move the gray pillow right, shift the brown fabric left, then place the pink plush toy beside the gray pillow."], "length": 2341, "skill": "Move / Transport / Lift", "verb": "move", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 690, "tasks": ["Retrieve the pink plush toy hidden under the gray pillow on the bed and display it."], "length": 2845, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 691, "tasks": ["Reveal the hidden pink plush, remove the brown cloth from the bed, and place the plush upright beside the gray pillow."], "length": 2204, "skill": "Pick & Place", "verb": "reveal", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 692, "tasks": ["Retrieve the pink plush toy hidden behind the gray pillow on the bed."], "length": 2614, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 693, "tasks": ["Rearrange the gray pillow, light orange cloth, and white plush sheep on the bed."], "length": 2710, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 694, "tasks": ["Rearrange the dark gray pillow, light orange pillow, and white sheep plush on the bed."], "length": 2565, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 695, "tasks": ["Place the white plush sheep toy next to the gray square cushion on the bed."], "length": 2545, "skill": "Pick & Place", "verb": "place", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 696, "tasks": ["Rearrange the bed pillows to reveal the hidden white sheep plush, then position the plush and pillows on the bed."], "length": 2393, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 697, "tasks": ["Rearrange the bed pillows to reveal and position the white plush sheep upright next to the dark gray pillow."], "length": 2652, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 698, "tasks": ["Reposition the two bed pillows and place the white sheep plush beside the dark gray pillow."], "length": 2684, "skill": "Move / Transport / Lift", "verb": "reposition", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 699, "tasks": ["Stand the white plush sheep upright next to the gray pillow on the bed, adjusting the pillows as needed."], "length": 2645, "skill": "Move / Transport / Lift", "verb": "stand", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 700, "tasks": ["Uncover the white plush sheep from under the gray pillow, adjust the pillow's position, and orient the plush sheep to face forward."], "length": 2654, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 701, "tasks": ["Arrange the gray pillow and white sheep plush on the bed to their intended positions."], "length": 2565, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 702, "tasks": ["Uncover the white sheep plush from under the gray pillow, move the pink pillow aside, and position the sheep upright on the bed."], "length": 2592, "skill": "Pick & Place", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 703, "tasks": ["Retrieve the white sheep plush hidden under the gray pillow and grasp it with the right robotic gripper."], "length": 2995, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 704, "tasks": ["Adjust the dark grey bed pillow, then place the white fluffy sheep plushie onto the adjusted pillow."], "length": 2514, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 705, "tasks": ["Reveal the white plush toy under the grey pillow and adjust its position on the bed."], "length": 2498, "skill": "Pick & Place", "verb": "reveal", "object": "toy", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 706, "tasks": ["Arrange the gray pillow and white sheep plush toy on the bed properly."], "length": 2800, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 707, "tasks": ["Uncover the white fluffy sheep plush hidden under the gray pillow, adjust the pillow, and interact with the plush."], "length": 2589, "skill": "Open / Close / Device Op", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 708, "tasks": ["Uncover the white plush sheep under the gray pillow, adjust the pillow, and place the plush sheep on top of the pillow."], "length": 2261, "skill": "Pick & Place", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 709, "tasks": ["Flip the gray pillow to expose its full gray top and position the white sheep plush upright on the bed."], "length": 2419, "skill": "Press / Push-Pull / Rotate", "verb": "flip", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 710, "tasks": ["Arrange the grey bed pillow and white fluffy sheep plush on the bed."], "length": 2349, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 711, "tasks": ["Uncover the white plush sheep from under the gray pillow and adjust its placement on the bed."], "length": 2216, "skill": "Pick & Place", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 712, "tasks": ["Uncover the light pink pillow on the bed, adjust its position, and place the white stuffed animal next to it."], "length": 2305, "skill": "Pick & Place", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 713, "tasks": ["Uncover the white sheep plush under the gray quilt, adjust the pink pillow, and place the white sheep plush at the center of the bed."], "length": 3128, "skill": "Pick & Place", "verb": "uncover", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 714, "tasks": ["Uncover the white plush sheep hidden under the gray bed blanket and grasp it."], "length": 2413, "skill": "Pick & Place", "verb": "uncover", "object": "blanket", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 715, "tasks": ["Adjust the bedding, flip the pillow, and reposition the white sheep plush toy on the bed."], "length": 2403, "skill": "Fold / Unfold (Deformable)", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 716, "tasks": ["Rearrange the stacked bed pillows and position the white plush sheep upright next to the gray pillow."], "length": 2458, "skill": "Move / Transport / Lift", "verb": "rearrange", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 717, "tasks": ["Arrange the white sheep plush upright next to the gray pillow on the bed."], "length": 2440, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 718, "tasks": ["Retrieve the white plush sheep hidden under the gray pillow on the bed, then adjust the positions of the pillows and the sheep."], "length": 3078, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 719, "tasks": ["Retrieve the hidden white sheep plush from under the bed cover, then arrange the plush and the grey pillow on the bed."], "length": 2593, "skill": "Remove / Retrieve", "verb": "retrieve", "object": "bed", "object_category": "Furniture & Articulated Fixtures"}
+{"episode_index": 720, "tasks": ["Arrange the gray pillow and white sheep plush neatly on the bed."], "length": 2950, "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 721, "tasks": ["Adjust the brown bed pillow and place the small brown plush toy adjacent to the pillow on the bed."], "length": 3133, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 722, "tasks": ["Adjust the brown pillow on the bed and place the small orange plush toy on top of the pillow."], "length": 2870, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 723, "tasks": ["Adjust the brown pillow's position, arrange the bed cover, and place the brown plush toy on the pillow."], "length": 3163, "skill": "Sort / Arrange / Store", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 724, "tasks": ["Adjust the brown pillow on the bed and place the small brown plush toy on top of the pillow."], "length": 2638, "skill": "Pick & Place", "verb": "adjust", "object": "pillow", "object_category": "Deformable Fabrics & Apparel"}
diff --git a/datasets/agibotworld-beta/data/537_make_bed/meta/episodes_stats.jsonl b/datasets/agibotworld-beta/data/537_make_bed/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..081a91e72a1938e98e9826a5909a7db5a67f0397
--- /dev/null
+++ b/datasets/agibotworld-beta/data/537_make_bed/meta/episodes_stats.jsonl
@@ -0,0 +1,725 @@
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diff --git a/datasets/agibotworld-beta/data/537_make_bed/meta/info.json b/datasets/agibotworld-beta/data/537_make_bed/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fb657e41ae9c24df050a71513f12e99fc235df5
--- /dev/null
+++ b/datasets/agibotworld-beta/data/537_make_bed/meta/info.json
@@ -0,0 +1,370 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "agibot_g1",
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+  "total_frames": 1857341,
+  "total_tasks": 1,
+  "total_chunks": 1,
+  "total_videos": 2175,
+  "chunks_size": 1000,
+  "fps": 30.0,
+  "splits": {
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+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
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+      "shape": [],
+      "names": null
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+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
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+        640,
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+        "height",
+        "width",
+        "channels"
+      ]
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+        480,
+        640,
+        3
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+        "height",
+        "width",
+        "channels"
+      ]
+    },
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+        20
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+      "names": {
+        "axes": [
+          "x_left",
+          "y_left",
+          "z_left",
+          "rotation_6d_0_left",
+          "rotation_6d_1_left",
+          "rotation_6d_2_left",
+          "rotation_6d_3_left",
+          "rotation_6d_4_left",
+          "rotation_6d_5_left",
+          "gripper_binary_left",
+          "x_right",
+          "y_right",
+          "z_right",
+          "rotation_6d_0_right",
+          "rotation_6d_1_right",
+          "rotation_6d_2_right",
+          "rotation_6d_3_right",
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+          "rotation_6d_5_right",
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+          "joint_2",
+          "joint_3",
+          "joint_4",
+          "joint_5",
+          "joint_6",
+          "joint_7",
+          "joint_8",
+          "joint_9",
+          "joint_10",
+          "joint_11",
+          "joint_12",
+          "joint_13"
+        ]
+      }
+    },
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+      ],
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+          "x_right",
+          "y_right",
+          "z_right",
+          "roll_right",
+          "pitch_right",
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+    },
+    "observation.state.gripper_position": {
+      "dtype": "float32",
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+        2
+      ],
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+        "axes": [
+          "gripper_left",
+          "gripper_right"
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+        20
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+          "rotation_6d_5_left",
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+          "x_right",
+          "y_right",
+          "z_right",
+          "rotation_6d_0_right",
+          "rotation_6d_1_right",
+          "rotation_6d_2_right",
+          "rotation_6d_3_right",
+          "rotation_6d_4_right",
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+          "joint_7",
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+          "yaw_left",
+          "x_right",
+          "y_right",
+          "z_right",
+          "roll_right",
+          "pitch_right",
+          "yaw_right"
+        ]
+      }
+    },
+    "action.gripper_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "axes": [
+          "gripper_left",
+          "gripper_right"
+        ]
+      }
+    },
+    "camera_intrinsics.head": {
+      "dtype": "float32",
+      "shape": [
+        9
+      ],
+      "names": null
+    },
+    "camera_intrinsics.hand_left": {
+      "dtype": "float32",
+      "shape": [
+        9
+      ],
+      "names": null
+    },
+    "camera_intrinsics.hand_right": {
+      "dtype": "float32",
+      "shape": [
+        9
+      ],
+      "names": null
+    },
+    "camera_extrinsics.head": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "names": null
+    },
+    "camera_extrinsics.hand_left": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "names": null
+    },
+    "camera_extrinsics.hand_right": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
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+      "names": null
+    },
+    "next.reward": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "next.success": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "quality": {
+      "dtype": "string",
+      "shape": [],
+      "names": null
+    },
+    "overall_speed": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  },
+  "skill_category": "折叠/铺整/绑带 (Fold/Flatten/Hang/Tie/Zip)",
+  "scene_category": "卧室/起居 (Bedroom)",
+  "camera_mapping": {
+    "observation.images.head": "head",
+    "observation.images.hand_left": "left_wrist",
+    "observation.images.hand_right": "right_wrist"
+  }
+}
\ No newline at end of file
diff --git a/datasets/agibotworld-beta/data/537_make_bed/meta/tasks.jsonl b/datasets/agibotworld-beta/data/537_make_bed/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c341570a9621fc2e7e37bd9447e23ade843b46cc
--- /dev/null
+++ b/datasets/agibotworld-beta/data/537_make_bed/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Arrange the pillows and white plush dog on the bed"}
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new file mode 100644
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@@ -0,0 +1,3 @@
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