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+{"episode_index": 0, "tasks": ["fold clothing"], "length": 195, "global_instruction": "Fold the pink t-shirt placed on the white round table", "scene_description": "A round white table holds a flat pink t-shirt, a white folded cloth, a blue rectangular object, and a plate with orange and yellow cups near a large window. A robotic arm is positioned above the t-shirt.", "global_instruction_dense": "The right robotic arm moves to the left edge of the pink t-shirt, grasps and folds the left side inward, then grasps and folds the right side inward to complete the fold before lifting away.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 1, "tasks": ["fold clothing"], "length": 237, "global_instruction": "Fold the pink T-shirt placed flat on the white table.", "scene_description": "A round white table holds a flat laid pink T-shirt, a crumpled white cloth, a folded blue cloth, and a plate with colorful cups, with a right robotic arm positioned above the table near a window overlooking city buildings.", "global_instruction_dense": "The right robotic arm moves toward the flat pink T-shirt, grasps its upper edge to fold the top half over the bottom half, then grasps its right edge to fold that side over, completes folding, and lifts away from the finished folded T-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 2, "tasks": ["fold clothing"], "length": 463, "global_instruction": "Fold the dark blue t-shirt resting on the yellow table.", "scene_description": "A dark blue t-shirt, a pink cloth, a white storage box, and a brown cardboard box are placed on a yellow table, with robotic equipment positioned to the left of the table.", "global_instruction_dense": "The left robotic arm enters the frame, moves to the dark blue t-shirt, sequentially grasps and folds the t-shirt's upper, middle, and lower sections, then releases the fully folded t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 3, "tasks": ["fold clothing"], "length": 365, "global_instruction": "Fold the pale pink printed t-shirt placed on the yellow table", "scene_description": "A yellow table holds a pale pink printed t-shirt near its center, a light blue striped storage bin with folded pink and black clothes on its right side, and a brown cardboard box at its far end. No robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm moves above the pale pink printed t-shirt on the yellow table, grasps its upper edge to fold the upper portion downward onto the t-shirt body, then moves to grasp the lower left edge of the t-shirt to fold that portion toward the t-shirt center, then releases the t-shirt and moves away.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 4, "tasks": ["fold clothing"], "length": 366, "global_instruction": "Fold the light pink t-shirt on the yellow table and place it into the white storage bin.", "scene_description": "A light pink printed t-shirt, a brown cardboard box, and a white plastic storage bin holding black and pink clothing are on a yellow table, with equipment cases and tripods to the left of the table.", "global_instruction_dense": "The left robotic arm moves to the light pink t-shirt on the yellow table, folds two sections of the t-shirt, grasps the folded t-shirt, lifts it, moves it over the white storage bin, and releases it into the bin.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 5, "tasks": ["fold clothing"], "length": 609, "global_instruction": "Fold the black t-shirt laid flat on the yellow table.", "scene_description": "A black t-shirt is laid flat on a yellow table, with a white rectangular plastic basket behind the t-shirt, a brown cardboard box further back on the table, and a robotic gripper positioned above the upper left of the table with equipment on a platform left of the table.", "global_instruction_dense": "The robotic gripper first grasps the left edge of the flat black t-shirt, folds it over to the right side and releases it, then grasps the right edge of the t-shirt, folds it over to the left side and releases it, then grasps the lower edge of the t-shirt, folds it upward and releases it to complete folding the t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 6, "tasks": ["fold clothing"], "length": 985, "global_instruction": "Fold the pink t-shirt into the white storage box, then take out a dark blue t-shirt and unfold it flat on the table.", "scene_description": "A yellow table holds a pink t-shirt with colorful graphic prints, a white rectangular storage box sits behind the t-shirt, a brown cardboard box is in the background near an office corridor, and a robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic gripper moves toward the pink t-shirt on the yellow table, folds the t-shirt by adjusting its edges, places the folded pink t-shirt into the white storage box, retrieves a dark blue t-shirt from the box, and unfolds the dark blue t-shirt to lay it flat on the yellow table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 7, "tasks": ["fold clothing"], "length": 515, "global_instruction": "Fold the pink T-shirt placed on the white storage box.", "scene_description": "A yellow table holds a white storage box with a pink T-shirt on its top, a pile of assorted clothes on the table's lower area, a brown cardboard box at the back right of the table, and a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the pink T-shirt on the white storage box, grasps it to lift and adjust its position, places it back, then grasps its edge to fold it, and repeatedly adjusts the folded T-shirt to make it neat on the box.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 8, "tasks": ["fold clothing"], "length": 1466, "global_instruction": "Fold the red garment with white trim that rests on the kitchen countertop.", "scene_description": "A red garment with white trim lies flat on a beige kitchen countertop, a left robotic arm is positioned above the garment, and surrounding kitchen items include a coffee maker, plastic storage containers, and water bottles on the counter and background surfaces.", "global_instruction_dense": "The left robotic arm moves downward toward the flat red garment on the kitchen counter, grasps its edges, manipulates the fabric to fold it into a compact stacked shape, adjusts the folded garment to secure its shape, then lifts away from the counter.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 9, "tasks": ["fold clothing"], "length": 331, "global_instruction": "Fold the navy-and-white striped garment and place it on the clothing pile on the table.", "scene_description": "A white table holds a white spray bottle, dark blue fabric, a navy-and-white striped garment, a pink floral bag with red trim, a yellow jar, and assorted folded clothes. A white robotic arm is positioned left of the table above the spray bottle.", "global_instruction_dense": "The right robotic arm moves from its initial position above the spray bottle, grasps the navy-and-white striped garment on the table, lifts and manipulates the garment to fold it, places the folded garment onto the clothing pile, then moves upward.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 10, "tasks": ["fold clothing"], "length": 409, "global_instruction": "Fold the pink rubber gloves on the white table.", "scene_description": "A white table holds a wooden coat rack stand, two rolls of tape (gray and off-white), a pair of spread pink rubber gloves, a black game controller, black cables, two small orange round objects, and a fixed robotic arm on the far right. Electrical sockets and white panels are mounted on the wall to the left of the table.", "global_instruction_dense": "The right robotic arm enters the frame from the upper right, moves down to the spread pink rubber gloves on the table, and repeatedly grasps, lifts, and repositions sections of the gloves to fold them.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 11, "tasks": ["fold clothing"], "length": 562, "global_instruction": "Fold the pink T-shirt placed on the white tabletop", "scene_description": "A white table holds a pink printed T-shirt, a wooden hanging rack, a roll of gray tape, loose black wires, a fixed white Kinova robotic arm, and small colorful toys at the far end. The pink T-shirt lies flat in the lower central area of the table, with wall outlets on the adjacent left wall.", "global_instruction_dense": "The right robotic arm moves toward the pink T-shirt on the table, grasps its edge, pulls and adjusts the fabric to fold the T-shirt, then releases the shirt and moves away from the folded fabric.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 12, "tasks": ["fold clothing"], "length": 314, "global_instruction": "Fold the blue t-shirt placed on the grey table.", "scene_description": "A grey table holds a white bowl with pink, green and yellow balls, a blue t-shirt, a beige tray of black utensils, a small blue box, a white paper and a clear plastic cup. Two blue chairs are beside the table, with grey storage cabinets in the background.", "global_instruction_dense": "The right robotic gripper enters the workspace, moves down to the blue t-shirt on the grey table, grasps and folds multiple sections of the t-shirt, adjusts the folded t-shirt to neaten it, then lifts away from the finished folded t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 13, "tasks": ["fold clothing"], "length": 240, "global_instruction": "Fold the blue printed t-shirt on the grey table", "scene_description": "A grey table holds a white bowl with pink, green, yellow balls on its left, a blue printed t-shirt in the center, and a beige tray with dark items, small blue box, white paper, clear plastic cup to the t-shirt's right. Two blue chairs are at the table's left edge, with workbenches in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue t-shirt, grasps its lower edge, lifts and folds the edge over the main garment, adjusts the folded fabric to lay flat, then retracts away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 14, "tasks": ["fold clothing"], "length": 541, "global_instruction": "Fold the blue t-shirt placed on the gray table.", "scene_description": "A gray table holds a blue printed t-shirt, a beige tool tray, and a clear plastic cup. Two blue chairs are beside the table, with storage cabinets and workbenches in the background, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves to the blue t-shirt on the gray table, sequentially grasps different sections of the t-shirt to fold over multiple times, adjusts each folded section to flatten it, and moves away from the table once folding is complete.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 15, "tasks": ["fold clothing"], "length": 569, "global_instruction": "Fold the dark blue T-shirt to expose the smaller white printed text on its inner side.", "scene_description": "A gray table holds a dark blue T-shirt with large white printed text, a light beige tray with utensils, a clear plastic cup, a small blue-and-white box, and a white sheet of paper. Two blue chairs are placed to the left of the table, with light gray storage cabinets and an equipment-filled workbench in the background.", "global_instruction_dense": "The right robotic arm approaches the dark blue T-shirt on the gray table, grasps and adjusts its surface, lifts and folds the T-shirt to reveal the smaller white printed text on its inner side, then adjusts the folded T-shirt in place and moves back.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 16, "tasks": ["fold clothing"], "length": 407, "global_instruction": "Fold the crumpled blue t-shirt placed on the gray table.", "scene_description": "A gray table sits next to two blue chairs. On the table are a crumpled blue t-shirt, a beige tray with utensils, a clear plastic cup, a small white paper, and a small blue box, with storage cabinets and a workbench in the background.", "global_instruction_dense": "The right robotic arm enters the scene from off-screen, moves over the crumpled blue t-shirt on the table, grasps different edges of the t-shirt sequentially to fold it into a neater flatter shape, then moves away from the folded t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 17, "tasks": ["fold clothing"], "length": 797, "global_instruction": "Fold the blue t-shirt laid out on the grey table.", "scene_description": "A grey table holds a blue t-shirt with white text, a beige tray with utensils, a clear plastic cup, and a small white sheet of paper. Two blue chairs are positioned left of the table, with grey storage cabinets and a cluttered workbench in the background, no robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm enters the frame, approaches the blue t-shirt on the grey table, sequentially grasps different sections of the t-shirt to fold its sides over, adjusts the fabric to align edges, completes the last fold, and presses the fully folded t-shirt flat on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 18, "tasks": ["fold clothing"], "length": 461, "global_instruction": "Fold the blue t-shirt placed on the grey table.", "scene_description": "A grey table holds a blue t-shirt with white print, a beige utensil tray, a clear plastic cup, a small blue box, and a piece of white paper. Two blue chairs are next to the table, with grey cabinets and a workbench in the background.", "global_instruction_dense": "The right robotic arm approaches the blue t-shirt on the table, grasps its edges, sequentially folds both sides of the t-shirt over, adjusts the folded t-shirt to neaten it, then retracts away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 19, "tasks": ["fold clothing"], "length": 450, "global_instruction": "Fold the blue t-shirt placed on the grey table", "scene_description": "A grey table holds a blue t-shirt with white lettering, a beige tray with utensils, a clear plastic cup, a small blue box, a white paper, and a white bowl on the left edge. Two blue chairs are next to the table, a white cabinet is to the left of the table, and workbenches with items are in the background.", "global_instruction_dense": "The right robotic arm enters the frame from the right, moves toward the blue t-shirt on the grey table, sequentially grasps edges of the t-shirt, folds two sides of the t-shirt over, adjusts the folded t-shirt's position, then releases the t-shirt and moves away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 20, "tasks": ["fold clothing"], "length": 546, "global_instruction": "Fold the right side of the blue t-shirt lying on the grey table.", "scene_description": "A grey table holds a flat blue t-shirt with white print, a beige tray of black utensils, a clear plastic cup, a small white paper slip, and white bowls at the bottom left. Two blue office chairs sit next to the table, a tall light grey cabinet is on the left, and lab workstations are in the background, with a robotic arm off the right edge of the table.", "global_instruction_dense": "The right robotic gripper moves from its off-table position to the right edge of the blue t-shirt, grasps the edge, lifts and folds it over to the left side of the t-shirt, presses the folded edge flat to secure the fold, then releases the t-shirt and moves back to its initial off-table position, leaving the t-shirt partially folded with its back text visible.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 21, "tasks": ["fold clothing"], "length": 372, "global_instruction": "Fold the blue t-shirt placed on the gray tabletop.", "scene_description": "A gray table holds a flat blue t-shirt, a beige tray with cutlery, a clear plastic cup, a small white paper, and a small blue box. Two blue office chairs are to the left of the table, storage cabinets are in the left background, and workbenches with assorted items are in the right background.", "global_instruction_dense": "The right robotic arm moves toward the blue t-shirt on the gray table, grasps and repositions different sections of the t-shirt repeatedly to fold it into a compact neat shape, then retracts from the table after completing the fold.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 22, "tasks": ["fold clothing"], "length": 355, "global_instruction": "Fold the red t-shirt placed on the black tray on the table", "scene_description": "A white table holds a light blue toy oven left of center, a red apple-shaped toy on a small white dish to the oven's left, a black power cord next to the dish, multiple small blue and black toy cooking pots behind the oven, a red t-shirt laid flat on a black tray to the oven's right, and a toy hamburger on a small blue plate at the table's far right.", "global_instruction_dense": "The right robotic arm approaches the red t-shirt on the black tray, folds its upper section over the center, then folds its lower section over the center, lifts the folded t-shirt off the tray and drops it on the table, then moves away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 23, "tasks": ["fold clothing"], "length": 282, "global_instruction": "Fold the pink long-sleeve t-shirt placed on the white table.", "scene_description": "A white table holds a light blue square small appliance at center-left, a white dish with a red fruit to the appliance's left, a black power cord next to the dish, four small cookware items (one teal kettle, two teal pots, one black pot) aligned behind the appliance, a pink long-sleeve t-shirt laid flat to the appliance's right, and a toy hamburger at the table's far right end.", "global_instruction_dense": "The right robotic gripper moves down to grasp the left section of the pink t-shirt, lifts and folds it onto the t-shirt's center, then moves to grasp the right sleeve of the t-shirt, lifts and folds it onto the t-shirt's center, before moving upward away from the folded t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 24, "tasks": ["fold clothing"], "length": 602, "global_instruction": "Fold the coral pink long-sleeve shirt placed on the white table.", "scene_description": "A white table holds a light blue small appliance on its left half, a power cord beside the appliance, a small white dish with a red toy apple on the far left, four toy cookware items aligned at the table's back edge, a spread coral pink long-sleeve shirt on the right half, a toy hamburger on a blue plate on the far right, and a black tray at the lower right edge partially under the shirt.", "global_instruction_dense": "The right robotic gripper approaches the spread pink shirt, sequentially grasps and folds its left sleeve, right sleeve, and lower edge over the shirt's torso, adjusts the folded shirt's position on the table, then retracts away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 25, "tasks": ["fold clothing"], "length": 344, "global_instruction": "Fold the red T-shirt placed on the white tabletop.", "scene_description": "A white table holds a light blue mini appliance at center-left, a black power cord next to it, a small beige plate with red toy fruit on the far left, a blue teapot, two blue cookware pieces, a black pot along the back edge, a red printed T-shirt on the right half, a black tray partially under the T-shirt, and a toy hamburger on a small blue plate at the far right.", "global_instruction_dense": "The right robotic gripper moves to the red T-shirt on the right half of the table, sequentially grasps the lower, right, and left corners of the shirt to fold each corner inward, and leaves the neatly folded red T-shirt next to the black tray on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 26, "tasks": ["fold clothing"], "length": 530, "global_instruction": "Fold the crumpled pink t-shirt placed on the white tabletop.", "scene_description": "A white table holds a light blue compact appliance left of center, a small beige plate with a red toy apple to the appliance's left next to a black power cord, a crumpled pink t-shirt right of center with a black grill tray partially under it, a toy hamburger on a blue plate at the far right, and a row of blue and black toy cookware behind the appliance. A robotic arm is initially positioned off the top right edge of the table.", "global_instruction_dense": "The right robotic arm enters the table area, repeatedly grasps different sections of the crumpled pink t-shirt to lift and reposition them, briefly touches a blue toy pot behind the shirt, then continues adjusting the t-shirt to fold it into a smaller neater shape before moving away.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 27, "tasks": ["fold clothing"], "length": 343, "global_instruction": "Fold the pink t-shirt resting on the black tray on the table.", "scene_description": "A white table has a light blue small appliance at the center-left, a black power cord and beige plate with red toy apple to its left, a row of blue teapot, blue pot, blue pan and black small pot behind it, a pink t-shirt on a black tray to its right, and a toy hamburger on a blue plate at the far right.", "global_instruction_dense": "The right robotic arm moves toward the pink t-shirt, sequentially grasps different edges of the t-shirt to lift, fold and adjust its position on the black tray, then moves away from the t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 28, "tasks": ["fold clothing"], "length": 718, "global_instruction": "Fold the black t-shirt on the white round table.", "scene_description": "A black short-sleeved t-shirt with a white logo lies flat on a white round table, and a left robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm sequentially grasps different edges of the black t-shirt on the white round table, lifts each edge to rearrange the fabric, and manipulates the t-shirt into a compact folded shape on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 29, "tasks": ["fold clothing"], "length": 525, "global_instruction": "Fold the black T-shirt placed on the white round table.", "scene_description": "A black T-shirt with white printed text is laid flat on a white round table, a robotic manipulator is positioned above the T-shirt, and a white office desk with a monitor, mug, and packages is visible in the background.", "global_instruction_dense": "The right robotic arm first grasps the left edge of the flat black T-shirt, lifts it and moves it right to fold the left half over the center, releases the fabric, then grasps the right edge of the partially folded T-shirt, lifts it and moves it left to fold the right half over the left, completing the T-shirt folding.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 30, "tasks": ["fold clothing"], "length": 141, "global_instruction": "Fold the light blue shirt placed on the white pillow on the bed.", "scene_description": "A bedroom with a bed covered in gray, yellow, and white plaid bedding. A white pillow lies on the bed with a light blue shirt placed on top of it. A black dresser is near the lit back window, a small side table with a trash bin sits next to the dresser, and a robotic arm is positioned above the right side of the bed.", "global_instruction_dense": "The right robotic arm moves downward toward the light blue shirt on the pillow, grasps the edge of the shirt, lifts and folds the edge over the rest of the shirt, releases the folded shirt, then moves upward away from the pillow.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 31, "tasks": ["fold clothing"], "length": 616, "global_instruction": "Fold the light gray T-shirt placed on the plaid bedspread.", "scene_description": "A bed covered in a yellow, gray, and white plaid bedspread is in a bedroom. On the bed, a white pillow is positioned near the far end, a small square gray cushion and a flat light gray T-shirt with a mobile phone resting on its center are laid out, and a white and black robotic arm is positioned at the right edge of the bed. A dark chest of drawers stands near the window in the background.", "global_instruction_dense": "The right robotic arm moves toward the light gray T-shirt on the bed, repeatedly grasps different edges of the T-shirt to lift and fold sections of the garment, adjusting its grip as needed, until the initially flat T-shirt is folded into a compact shape on the bed.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 32, "tasks": ["fold clothing"], "length": 350, "global_instruction": "Fold the light gray T-shirt placed on the bed", "scene_description": "A bed with a gray, yellow, and white plaid bedspread holds a white pillow, a small folded light gray cloth, and an unfolded light gray T-shirt. A dark dresser stands next to a window in the background, and a right robotic arm is positioned above the right side of the bed.", "global_instruction_dense": "The right robotic arm moves downward toward the unfolded light gray T-shirt on the bed, grasps its right edge, folds the edge over the center of the T-shirt, then adjusts the partially folded T-shirt to complete the folding neatly.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 33, "tasks": ["fold clothing"], "length": 2049, "global_instruction": "Fold the black printed t-shirt on the kitchen countertop.", "scene_description": "A black printed t-shirt lies flat on a wooden kitchen countertop, with a white robotic arm (with gray accents and blue gripper) positioned above it. Aluminum food trays sit to the left of the t-shirt, while stacked plastic cups, a checkered calibration board, and a small bowl with a red ball are to the right. The background includes wooden upper cabinets, a stainless steel refrigerator, microwave, and stove.", "global_instruction_dense": "The right robotic arm (with a blue gripper attachment) repeatedly grasps, lifts, and adjusts sections of the black printed t-shirt on the wooden kitchen countertop, folding the fabric into a smaller, stacked form.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 34, "tasks": ["fold clothing"], "length": 1069, "global_instruction": "Fold the black graphic t-shirt placed on the wooden kitchen table", "scene_description": "A black graphic t-shirt lies flat on a light wooden table in a kitchen space. To the left of the t-shirt are leftover food containers, a blue water bottle with a green cap, and a red bowl holding a small colorful object. A stack of light blue cups is to the right of the t-shirt, and a white robotic arm with a blue gripper is positioned above the t-shirt. The background has wooden upper cabinets, a stainless steel stove, microwave, and refrigerator.", "global_instruction_dense": "The right robotic gripper moves down to grasp sections of the black graphic t-shirt on the wooden table, sequentially folds the left, right, and bottom portions of the t-shirt over its center, and adjusts the final folded t-shirt to be neatly aligned on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 35, "tasks": ["fold clothing"], "length": 1395, "global_instruction": "Fold the black printed t-shirt that is laid flat on the wooden table.", "scene_description": "A white robotic arm is positioned at the left of a light wooden table, which holds a flat black t-shirt with a colorful print, a brown paper bag, a red fruit bowl, and a small plate of food, with a kitchen area (wooden upper cabinets, stainless steel refrigerator, microwave, and stove) in the background.", "global_instruction_dense": "The right robotic arm grasps the edges of the black printed t-shirt on the wooden table, lifts and repositions the t-shirt sections to fold it, adjusts the folded edges to align the fabric, flattens the completed folded t-shirt, and then moves away to a neutral position above the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 36, "tasks": ["fold clothing"], "length": 1459, "global_instruction": "Fold the red and blue plaid shirt on the wooden table over the light blue jeans.", "scene_description": "A wooden kitchen table holds a red-and-blue plaid shirt, light blue denim jeans, a black shirt, a white canvas bag, and a clear plastic container. A two-armed white robot is positioned at the left side of the table, with wooden kitchen cabinets, a stainless steel refrigerator, microwave, and stove in the background.", "global_instruction_dense": "The right robotic gripper approaches the red-and-blue plaid shirt on the wooden table, repeatedly grasps and repositions different edges of the shirt to fold it over the pair of light blue jeans on the table, adjusts the fabric to neaten the fold, then moves away from the finished folded shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 37, "tasks": ["fold clothing"], "length": 4300, "global_instruction": "Fold the black printed t-shirt placed on the light wooden table.", "scene_description": "A white robotic arm with a blue end effector is positioned to the left of a black t-shirt with a colorful printed design laid flat on a light wooden table. The background is a kitchen area with wooden upper cabinets, a stainless steel refrigerator, a microwave, a stove, and a person holding a plate standing on the right side of the frame.", "global_instruction_dense": "The right robotic arm (fitted with a blue end effector) moves toward the left edge of the black printed t-shirt on the wooden table, grasps the edge, lifts and positions it to form the first fold, smooths the folded fabric, grasps the remaining unfolded edge to make the second fold, and adjusts the fully folded t-shirt to form a neat compact shape on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 38, "tasks": ["fold clothing"], "length": 1724, "global_instruction": "Fold the plaid shirt placed on the wooden tabletop.", "scene_description": "A white robotic arm with black cables is positioned next to a light wooden table, on which a dark blue-green plaid shirt lies. The background is a kitchen area with wooden cabinets, a stainless steel refrigerator, a microwave, and a stove. A foil tray and yellow notebooks are also placed on the table.", "global_instruction_dense": "The right robotic arm moves to grasp edges of the plaid shirt on the table, lifts and repositions the edges multiple times to fold the shirt neatly on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 39, "tasks": ["fold clothing"], "length": 2299, "global_instruction": "Fold the black printed T-shirt placed on the wooden table.", "scene_description": "A white robotic arm with gray accents is positioned above a wooden table; the table holds a black T-shirt with a colorful print near the arm, a folded dark green and blue plaid shirt on the table's right, and aluminum food trays on the table's left; a kitchen area with wooden upper cabinets, stainless steel refrigerator, microwave, and stove is in the background.", "global_instruction_dense": "The right robotic arm performs repeated grasping, lifting, pressing, and adjusting motions on the black printed T-shirt atop the wooden table, manipulating the shirt to fold it into a compact shape.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 40, "tasks": ["fold clothing"], "length": 4306, "global_instruction": "Flatten and fold the crumpled purple shirt on the wooden table.", "scene_description": "A wooden kitchen table has a crumpled purple shirt and a dark plaid shirt piled on its right side, with a white robotic arm with a blue gripper positioned above the table center; wooden cabinets, a stainless steel fridge, microwave, and oven are in the background.", "global_instruction_dense": "The right robotic arm with a blue gripper moves toward the crumpled purple shirt in the right cloth pile, grasps it, lays it flat on the table center, then repeatedly adjusts, flattens, and folds sections of the purple shirt on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 41, "tasks": ["fold clothing"], "length": 3274, "global_instruction": "Move the purple garment aside and fold the black t-shirt on the wooden table.", "scene_description": "In a lab kitchen space with wooden upper cabinets, a stainless steel fridge, a microwave, and a stove in the background, a white robotic arm with a blue gripper is positioned beside a light wooden table, where a purple garment rests on top of a black printed t-shirt, with a tin tray, notebooks, and wooden stools around the table edges.", "global_instruction_dense": "The right robotic arm first grasps the purple garment lying on the black t-shirt, moves it to the left side of the table, then folds and adjusts the black t-shirt on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 42, "tasks": ["fold clothing"], "length": 4305, "global_instruction": "Fold the purple and orange t-shirts placed on the wooden kitchen table.", "scene_description": "A light wooden kitchen table holds folded grey clothing, a dark green plaid shirt, a purple printed t-shirt resting on an orange t-shirt, with wooden upper cabinets, a stainless steel refrigerator, microwave, and stove in the background, and a white robotic arm positioned above the left side of the table.", "global_instruction_dense": "The right robotic gripper first grasps the purple t-shirt on the table, repeatedly lifts and repositions it to fold the garment, then manipulates and adjusts the orange t-shirt on the table before moving away from the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 43, "tasks": ["fold clothing"], "length": 1341, "global_instruction": "Fold the bright red t-shirt placed on the light wooden worktable.", "scene_description": "A light wooden worktable holds four pieces of clothing: a bright red t-shirt at the front right, a purple shirt behind the red one, a gray shirt next to the purple shirt, and a dark plaid shirt at the back left. A white robotic arm with a blue gripper is positioned to the left of the table, with a kitchen area (wooden upper cabinets, stainless steel refrigerator, microwave, stove) in the background and a person sitting at the far end of the table.", "global_instruction_dense": "The right robotic arm with a blue gripper positions itself above the bright red t-shirt on the worktable, grasps and lifts sections of the shirt in sequence to adjust and fold the fabric into a smaller shape, then releases the folded shirt and moves away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 44, "tasks": ["fold clothing"], "length": 912, "global_instruction": "Smooth the black printed t-shirt on the table and fold its edges.", "scene_description": "A black t-shirt with a printed design lies flat on a light wooden table, with a white robotic arm positioned above it. The background is a kitchen area with wooden upper cabinets, a stainless steel double-door refrigerator, and a countertop with a microwave.", "global_instruction_dense": "The right robotic arm uses a blue attachment to press and smooth the central printed area of the black t-shirt on the wooden table, then moves away, after which the left robotic arm grasps the edges of the t-shirt to fold them.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 45, "tasks": ["fold clothing"], "length": 1756, "global_instruction": "Fold the black printed t-shirt laid out on the wooden table.", "scene_description": "A black t-shirt with a colorful printed design lies flat on a light wooden table. A white robotic manipulator is positioned above the left side of the t-shirt, with a kitchen area (brown upper cabinets, stainless steel refrigerator, microwave, and stove) visible in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps the left, right, top, and bottom edges of the black printed t-shirt, folding each section toward the center and adjusting the fabric until the t-shirt is fully folded on the wooden table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 46, "tasks": ["fold clothing"], "length": 1032, "global_instruction": "Fold the black printed T-shirt that lies flat on the wooden kitchen table.", "scene_description": "A light wooden kitchen table holds a flat black T-shirt with a colorful printed design, with a white robotic arm positioned over the T-shirt; the background includes wooden kitchen cabinets, a stainless steel refrigerator, a microwave, and an oven.", "global_instruction_dense": "The right robotic gripper grasps the edge of the black printed T-shirt on the wooden table, lifts the fabric, folds the T-shirt over onto itself, adjusts the folded fabric to flatten it, then releases the T-shirt and moves away.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 47, "tasks": ["fold clothing"], "length": 1903, "global_instruction": "Fold the black printed t-shirt laid flat on the wooden table.", "scene_description": "A black t-shirt with a colorful printed design lies flat on a light wooden table, with the robot's left arm positioned above the t-shirt, and a kitchen area with wooden cabinets, a stainless steel refrigerator, and a microwave in the background.", "global_instruction_dense": "The left robotic arm lowers toward the flat black printed t-shirt on the wooden table, grasps one edge of the t-shirt, folds it over the printed section, adjusts the fold, grasps an edge, folds it over the t-shirt, adjusts the fully folded t-shirt to neaten it, then moves back to a resting position above the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 48, "tasks": ["fold clothing"], "length": 1642, "global_instruction": "Fold the black printed t-shirt laid on the light wooden table.", "scene_description": "A black t-shirt with a printed graphic is laid flat on a light wooden table in a kitchen space, with a white robotic arm positioned above the t-shirt, and wooden cabinets, a stainless steel double-door refrigerator, and a microwave in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the edge of the black printed t-shirt on the wooden table, repeatedly lifts and folds different sections of the t-shirt, adjusts its grip as needed, and finishes by leaving the fully folded t-shirt on the table before moving away.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 49, "tasks": ["fold clothing"], "length": 2870, "global_instruction": "Fold the white cloth and black graphic t-shirt, then place the folded t-shirt on top of the folded white cloth.", "scene_description": "A light wooden kitchen table holds a folded white cloth on its left side and a black t-shirt with a colorful graphic print on its right side. A white robotic arm is positioned above the white cloth, with wooden kitchen cabinets, a stainless steel refrigerator, and a microwave visible in the background.", "global_instruction_dense": "The left robotic arm first folds the white cloth on the left side of the table, then moves right to fold the black graphic t-shirt, lifts the folded t-shirt, moves it over the folded white cloth, places it down, and adjusts the t-shirt to complete the task.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 50, "tasks": ["fold clothing"], "length": 3369, "global_instruction": "Fold the black printed t-shirt on the countertop, then place the white cloth on top of the folded t-shirt.", "scene_description": "A black t-shirt with a printed graphic is laid flat on a light wooden kitchen countertop, with a white folded cloth positioned to the left of the t-shirt; wooden kitchen cabinets, a stainless steel refrigerator, and a microwave are visible in the background.", "global_instruction_dense": "The right robotic arm grasps the corner of the flat black printed t-shirt, manipulates the fabric to fold the t-shirt into a compact shape, then moves to grasp the white cloth, lifts it, carries it over the folded t-shirt, places it on top, and adjusts the cloth to lay flat before moving away.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 51, "tasks": ["fold clothing"], "length": 2394, "global_instruction": "Fold the black printed t-shirt on the wooden table and adjust the white cloth on top of it.", "scene_description": "A light wooden table in a kitchen workspace holds a flat black t-shirt with a colorful printed design, with a white cloth positioned to the left of the t-shirt; a dual-arm white robotic arm is positioned above the table, with wooden cabinets, a microwave, and a stainless steel refrigerator in the background.", "global_instruction_dense": "The right robotic gripper first hovers above the flat black printed t-shirt, then moves to grasp and adjust the white cloth to the t-shirt's left, returns to grasp the t-shirt's edge to fold it, then re-grasps the white cloth, places it on top of the folded t-shirt, and finally moves away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 52, "tasks": ["fold clothing"], "length": 1321, "global_instruction": "Fold the black printed t-shirt laid out on the wooden kitchen counter.", "scene_description": "A wooden kitchen counter holds a flat black printed t-shirt and a white cloth, with a white collaborative robotic arm positioned at the left side of the counter, in a kitchen with wooden upper cabinets, a stainless steel refrigerator, and a microwave in the background.", "global_instruction_dense": "The right robotic gripper moves toward the flat black printed t-shirt on the wooden counter, grasps its edge to lift and fold one section of the t-shirt, adjusts its grip to fold the remaining sections of the t-shirt, then releases the neatly folded t-shirt and moves away.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 53, "tasks": ["fold clothing"], "length": 689, "global_instruction": "Fold the black t-shirt laid out on the wooden kitchen table.", "scene_description": "A wooden kitchen table holds a black printed t-shirt, an aluminum foil tray, a plate of food, and a plastic bag with a red logo. A white robotic arm with a blue gripper is positioned at the left of the table, with wooden kitchen cabinets, a stove, and a microwave in the background.", "global_instruction_dense": "The right robotic arm moves toward the black t-shirt on the wooden table, grasps its left edge, lifts and folds it onto the main t-shirt body, then adjusts and folds another section to arrange the t-shirt neatly on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 54, "tasks": ["fold clothing"], "length": 2163, "global_instruction": "Fold the black printed t-shirt that is laid flat on the wooden table.", "scene_description": "A black t-shirt with a colorful printed design is laid flat on a light wooden kitchen table, with a white right robotic gripper positioned above the t-shirt; the background includes brown upper cabinets, a microwave, an oven, and a sink.", "global_instruction_dense": "The right robotic gripper sequentially grasps the left edge, right sleeve, and bottom hem of the flat black t-shirt, folding each section over the center of the shirt to fully fold the t-shirt into a compact stacked shape on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 55, "tasks": ["fold clothing"], "length": 2473, "global_instruction": "Fold the black t-shirt and reposition the gray knitted cloth adjacent to the t-shirt.", "scene_description": "A wooden table holds a flat black t-shirt with a colorful printed square at its center, a light gray knitted sheep-shaped cloth to the right of the t-shirt, a plate of food and an aluminum foil tray to the left of the t-shirt, with a kitchen area including wooden cabinets, a stove, and a microwave in the background.", "global_instruction_dense": "The right robotic arm first adjusts and flattens the black t-shirt on the wooden table, then grasps the light gray knitted sheep cloth, moves it across the table and places it next to the t-shirt, then returns to continue folding the black t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 56, "tasks": ["fold clothing"], "length": 2703, "global_instruction": "Fold the black printed t-shirt on the wooden kitchen table after moving the grey cat cloth off of it.", "scene_description": "A wooden kitchen table holds a black printed t-shirt, with a grey cat-shaped cloth resting on top of the t-shirt. A plate with food is on the left section of the table, a plastic bag with a red logo is on the right end, and a kitchen area with wooden cabinets, a microwave, stove, and refrigerator is visible in the background. A white left robotic arm with a blue end effector is positioned above the table.", "global_instruction_dense": "The left robotic arm first grasps the grey cat-shaped cloth resting on the black printed t-shirt, lifts it, moves it to the right side of the table and places it down, then manipulates the black t-shirt by grasping its edges, folding sections over, and adjusting to fully fold the t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 57, "tasks": ["fold clothing"], "length": 2880, "global_instruction": "Fold the black printed t-shirt lying on the wooden kitchen table.", "scene_description": "A black printed t-shirt lies flat on a light wooden table, with a gray knitted bunny plush to its right. A white robotic arm is positioned above the t-shirt, and a kitchen with wooden cabinets, a microwave, oven, and stainless steel refrigerator is in the background.", "global_instruction_dense": "The left robotic arm folds sections of the flat black t-shirt, then grasps and moves the gray bunny plush beside the t-shirt to the right side of the table, then returns to the t-shirt and finishes folding it into a compact shape.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 58, "tasks": ["fold clothing"], "length": 2189, "global_instruction": "Fold the black printed t-shirt laid on the wooden kitchen table.", "scene_description": "A black t-shirt with a colorful printed design is spread flat on a light wooden table, a white robotic arm with a blue gripper is positioned above the t-shirt, with a kitchen area including wooden upper cabinets, a microwave, a stainless steel refrigerator, and a stove in the background.", "global_instruction_dense": "The right robotic gripper sequentially grasps different edges of the flat black printed t-shirt on the wooden table, lifts and folds each section over to turn the flat t-shirt into a compact folded shape, adjusting the t-shirt to smooth it during the folding process.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 59, "tasks": ["fold clothing"], "length": 2907, "global_instruction": "Fold the black printed t-shirt laid on the wooden kitchen table", "scene_description": "A white dual-arm robot is positioned to the left of a light wooden table, a black t-shirt with a colorful print is laid flat on the center of the table, aluminum food trays and a plate with food sit on the left side of the table, and a kitchen area with wooden upper cabinets, a microwave, and a stainless steel refrigerator is in the background.", "global_instruction_dense": "The right robotic gripper sequentially grasps different edges of the black printed t-shirt on the wooden table, lifts each edge to fold it over the t-shirt center, adjusts each fold to lie flat, and compacts the t-shirt into a fully folded shape on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 60, "tasks": ["fold clothing"], "length": 3092, "global_instruction": "Fold the black printed t-shirt placed on the wooden kitchen table.", "scene_description": "A right robotic arm with a blue gripper is positioned next to a black t-shirt with a colorful printed graphic laid flat on a light wooden table, with a kitchen area (wooden upper cabinets, stainless steel refrigerator, microwave, stove, a plate of food, and aluminum foil trays) in the background.", "global_instruction_dense": "The right robotic gripper moves toward the flat black printed t-shirt on the table, grasps its edges sequentially to fold sections of the t-shirt, flips the t-shirt to expose its reverse side, folds the side edges inward, folds the top edge down, and adjusts the garment to form a compact folded shape.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 61, "tasks": ["fold clothing"], "length": 3070, "global_instruction": "Fold the flat black printed t-shirt placed on the wooden table.", "scene_description": "A flat black printed t-shirt rests on a light wooden table in a kitchen-style workspace, with a white robotic arm with a blue gripper positioned above the t-shirt; aluminum trays, a plate of food, and a yellow notebook are on the table edges, with wooden cabinets, a microwave, and a refrigerator in the background.", "global_instruction_dense": "The right robotic gripper grasps the right edge of the flat black t-shirt, folds it over the printed front, flips the t-shirt to reveal the reverse text side, folds the two edges of the reversed t-shirt inward sequentially, and adjusts the final folded t-shirt into a neat compact shape on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 62, "tasks": ["fold clothing"], "length": 3030, "global_instruction": "Fold the black printed t-shirt laid flat on the wooden kitchen table.", "scene_description": "A left robotic arm with a blue gripper is positioned above a light wooden table, where a black printed t-shirt lies flat. The background is a kitchen area with wooden upper cabinets, a stainless steel refrigerator, microwave, stove, aluminum food trays, a plate of food, and wooden stools beside the table.", "global_instruction_dense": "The left robotic arm uses its blue gripper to sequentially grasp different sections of the flat black t-shirt, folding each side and the top portion to form a compact folded t-shirt on the wooden table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 63, "tasks": ["fold clothing"], "length": 2266, "global_instruction": "Fold the black graphic t-shirt placed on the light wooden table.", "scene_description": "A black graphic t-shirt is laid flat on a light wooden table, a white robotic arm with a blue gripper is positioned above the t-shirt, a clear plastic tray with items is to the left of the t-shirt, and a kitchen area with brown cabinets, a microwave, and a stainless steel refrigerator is in the background.", "global_instruction_dense": "The right robotic arm with a blue gripper sequentially grasps the edges of the flat black graphic t-shirt, folds each edge over the t-shirt's center, and presses the folds to finish folding the t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 64, "tasks": ["fold clothing"], "length": 1109, "global_instruction": "Fold the black printed T-shirt placed on the wooden kitchen table.", "scene_description": "A black T-shirt with a colorful printed pattern lies flat on a light wooden table, with a gray knitted bunny plush and yellow notebooks to its right, a kitchen with wooden cabinets, a microwave, an oven, and a refrigerator in the background, and a white robotic arm positioned above the T-shirt.", "global_instruction_dense": "The right robotic gripper first lowers to grasp the edge of the black printed T-shirt on the wooden table, smooths its surface to flatten the fabric, folds the right side over the printed central area, then folds the left side over the folded layer, adjusts the folded T-shirt to neaten its edges, finally releases the T-shirt and moves back to its resting position.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 65, "tasks": ["fold clothing"], "length": 1390, "global_instruction": "Fold the black printed t-shirt lying on the wooden table", "scene_description": "A black t-shirt with a colorful printed design lies flat on a light wooden table, with two aluminum foil trays, a plate of food, yellow notebooks, and a small gray plush item placed around it. A white robotic arm with a blue right gripper is positioned above the t-shirt, with a kitchen area with brown cabinets, a stainless steel fridge, microwave, and stove in the background.", "global_instruction_dense": "The right robotic gripper grasps the right edge of the black printed t-shirt, folds it over the center of the garment, then grasps the left edge and folds it over the central section, then grasps the bottom edge and folds it upward to fully fold the t-shirt on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 66, "tasks": ["fold clothing"], "length": 3250, "global_instruction": "Fold the black printed t-shirt with white cloths placed inside it.", "scene_description": "A wooden worktable in a kitchen space holds a black printed t-shirt, a stack of white cloths to the left of the t-shirt, and assorted cups and containers to the right of the t-shirt; a dual-arm white robot is positioned at the left side of the table, facing the table.", "global_instruction_dense": "The right robotic arm first picks up multiple white cloths from the stack and places them on the black printed t-shirt, then both robotic arms adjust and fold the t-shirt around the white cloths to finish the folding task.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 67, "tasks": ["fold clothing"], "length": 1444, "global_instruction": "Fold the black printed t-shirt laid flat on the wooden table.", "scene_description": "A black t-shirt with a colorful printed design is laid flat on a light wooden table. A white robotic arm with a blue end effector is positioned above the left side of the shirt, and a kitchen area with brown cabinets, a stainless steel refrigerator, and a microwave is visible in the background.", "global_instruction_dense": "The right robotic arm moves to grasp the right edge of the flat black printed t-shirt on the wooden table, lifts the edge, folds it across the center of the shirt to the left side, releases the edge, smooths the folded fabric, then moves back to its resting position above the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 68, "tasks": ["fold clothing"], "length": 2235, "global_instruction": "Fold the black printed t-shirt on the light wooden table", "scene_description": "A black printed t-shirt, a stack of white cloths, and a white robotic arm are positioned on a light wooden table. A kitchen area with brown cabinets, a stainless steel refrigerator, microwave, and stove is in the background.", "global_instruction_dense": "The left robotic arm first stays stationary above the table, then moves to grasp the upper edge of the black printed t-shirt, folds the edge over the t-shirt body, adjusts the t-shirt folds to smooth it, adjusts the position of the white cloth stack on the table, and finally returns to make final adjustments to the folded black t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 69, "tasks": ["fold clothing"], "length": 4018, "global_instruction": "Fold the black printed t-shirt on the wooden table, then place the white cloth over the folded t-shirt.", "scene_description": "A single white robotic arm with gray joints and a blue gripper is positioned at the edge of a light wooden table. A black t-shirt with a colorful graphic print lies flat on the table in front of the arm, a white rectangular cloth is to the left of the t-shirt, and various cups, a yellow triangular block, and notebooks are on the right side of the table. A kitchen area with brown upper cabinets, stainless steel refrigerator, microwave, and oven is in the background.", "global_instruction_dense": "The robotic arm repeatedly grasps, lifts, and folds edges of the black printed t-shirt on the wooden table to form a neat fold, then moves left to grasp the white flat cloth, lifts it, carries it over the folded t-shirt, lowers it onto the t-shirt, and adjusts the cloth to lie flat.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 70, "tasks": ["fold clothing"], "length": 1581, "global_instruction": "Fold the black graphic t-shirt placed on the wooden kitchen table.", "scene_description": "A wooden table holds a folded white cloth on its left side, a black graphic t-shirt centered on its surface, and assorted cups and small objects on its right side; a white and gray robotic arm is positioned above the left side of the table, with a kitchen area (wooden cabinets, stainless steel refrigerator, microwave) in the background.", "global_instruction_dense": "The right robotic arm manipulates the edges of the black graphic t-shirt on the wooden table, grasping and lifting sections of the t-shirt to fold it neatly on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 71, "tasks": ["fold clothing"], "length": 849, "global_instruction": "Fold the white T-shirt on the wooden kitchen table.", "scene_description": "A partially spread white T-shirt, a black garment, a cream canvas tote bag, colorful plastic cups, and a tray of toy fruits are placed on a light wooden kitchen table, with stainless steel kitchen appliances and wooden cabinets in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white T-shirt on the wooden kitchen table, grasps its corner, repositions the T-shirt, folds its sections sequentially, and adjusts the final folded T-shirt on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "fold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
diff --git a/datasets/droid/data/fold__clothing/meta/episodes_stats.jsonl b/datasets/droid/data/fold__clothing/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4ba77efac95144df85fedaa15c933eec3631b1a
--- /dev/null
+++ b/datasets/droid/data/fold__clothing/meta/episodes_stats.jsonl
@@ -0,0 +1,72 @@
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diff --git a/datasets/droid/data/fold__clothing/meta/info.json b/datasets/droid/data/fold__clothing/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d74381397ffc6313a3a26e1a032f68d4a10c9b59
--- /dev/null
+++ b/datasets/droid/data/fold__clothing/meta/info.json
@@ -0,0 +1,255 @@
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+}
\ No newline at end of file
diff --git a/datasets/droid/data/fold__clothing/meta/stats.json b/datasets/droid/data/fold__clothing/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bcdceb7a6853abee89fa277df8f547f10fd6477
--- /dev/null
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