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+{"episode_index": 54, "tasks": ["Open the black tray, place all scattered toiletries to the right of the sink into the tray, then close the tray."], "length": 931, "skill": "Open / Close / Device Op", "verb": "open", "object": "tray", "object_category": "Tableware & Kitchen Utensils"}
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+{"episode_index": 56, "tasks": ["Open the black tray on the bathroom counter, place the adjacent toothbrush, toothpastes, and razor into the tray, then close the tray."], "length": 1084, "skill": "Open / Close / Device Op", "verb": "open", "object": "tray", "object_category": "Tableware & Kitchen Utensils"}
diff --git a/datasets/galaxea-open-world/data/Arrange_Toiletries/meta/episodes_stats.jsonl b/datasets/galaxea-open-world/data/Arrange_Toiletries/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c682b5dc9adf518b2db02d94fa9e114ad34bfa8f
--- /dev/null
+++ b/datasets/galaxea-open-world/data/Arrange_Toiletries/meta/episodes_stats.jsonl
@@ -0,0 +1,57 @@
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diff --git a/datasets/galaxea-open-world/data/Arrange_Toiletries/meta/info.json b/datasets/galaxea-open-world/data/Arrange_Toiletries/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..84ed6d517118a075d272b3fbf1f442d7f82a02f2
--- /dev/null
+++ b/datasets/galaxea-open-world/data/Arrange_Toiletries/meta/info.json
@@ -0,0 +1,440 @@
+{
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+  "robot_type": "galaxea_r1_lite",
+  "is_aligned": true,
+  "total_episodes": 57,
+  "total_frames": 48244,
+  "total_tasks": 57,
+  "total_chunks": 1,
+  "total_videos": 228,
+  "chunks_size": 1000,
+  "fps": 15,
+  "splits": {
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+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
+    "scene_description": {
+      "dtype": "string",
+      "shape": [],
+      "names": null
+    },
+    "global_instruction": {
+      "dtype": "string",
+      "shape": [],
+      "names": null
+    },
+    "global_instruction_dense": {
+      "dtype": "string",
+      "shape": [],
+      "names": null
+    },
+    "current_instruction": {
+      "dtype": "string",
+      "shape": [],
+      "names": null
+    },
+    "observation.images.head_rgb": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ]
+    },
+    "observation.images.head_right_rgb": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ]
+    },
+    "observation.images.left_wrist_rgb": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ]
+    },
+    "observation.images.right_wrist_rgb": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "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",
+          "rotation_6d_4_right",
+          "rotation_6d_5_right",
+          "gripper_binary_right"
+        ]
+      }
+    },
+    "observation.state.cartesian_position": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "names": {
+        "axes": [
+          "x_left",
+          "y_left",
+          "z_left",
+          "roll_left",
+          "pitch_left",
+          "yaw_left",
+          "x_right",
+          "y_right",
+          "z_right",
+          "roll_right",
+          "pitch_right",
+          "yaw_right"
+        ]
+      }
+    },
+    "observation.state.joint_position": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "names": {
+        "axes": [
+          "joint_0",
+          "joint_1",
+          "joint_2",
+          "joint_3",
+          "joint_4",
+          "joint_5",
+          "joint_6",
+          "joint_7",
+          "joint_8",
+          "joint_9",
+          "joint_10",
+          "joint_11"
+        ]
+      }
+    },
+    "observation.state.gripper_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "axes": [
+          "gripper_left",
+          "gripper_right"
+        ]
+      }
+    },
+    "action.joint_position": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "names": {
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+          "joint_0",
+          "joint_1",
+          "joint_2",
+          "joint_3",
+          "joint_4",
+          "joint_5",
+          "joint_6",
+          "joint_7",
+          "joint_8",
+          "joint_9",
+          "joint_10",
+          "joint_11"
+        ]
+      }
+    },
+    "action.gripper_position": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "axes": [
+          "gripper_left",
+          "gripper_right"
+        ]
+      }
+    },
+    "observation.state.chassis": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": {
+        "axes": [
+          "x",
+          "y",
+          "yaw",
+          "vx",
+          "vy",
+          "vyaw"
+        ]
+      }
+    },
+    "observation.state.chassis.imu": {
+      "dtype": "float32",
+      "shape": [
+        10
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+      "names": null
+    },
+    "observation.state.torso": {
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+      "shape": [
+        4
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+      "names": null
+    },
+    "observation.state.torso.velocities": {
+      "dtype": "float32",
+      "shape": [
+        4
+      ],
+      "names": null
+    },
+    "action.chassis.velocities": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ],
+      "names": {
+        "axes": [
+          "vx",
+          "vy",
+          "vyaw"
+        ]
+      }
+    },
+    "action.torso.velocities": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": null
+    },
+    "camera_intrinsics.head_rgb": {
+      "dtype": "float32",
+      "shape": [
+        9
+      ],
+      "names": null
+    },
+    "camera_extrinsics.head_rgb": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "names": null
+    },
+    "camera_intrinsics.head_right_rgb": {
+      "dtype": "float32",
+      "shape": [
+        9
+      ],
+      "names": null
+    },
+    "camera_extrinsics.head_right_rgb": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "names": null
+    },
+    "camera_intrinsics.left_wrist_rgb": {
+      "dtype": "float32",
+      "shape": [
+        9
+      ],
+      "names": null
+    },
+    "camera_extrinsics.left_wrist_rgb": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "names": null
+    },
+    "camera_intrinsics.right_wrist_rgb": {
+      "dtype": "float32",
+      "shape": [
+        9
+      ],
+      "names": null
+    },
+    "camera_extrinsics.right_wrist_rgb": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "names": null
+    },
+    "next.done": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "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
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        20
+      ],
+      "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",
+          "rotation_6d_4_right",
+          "rotation_6d_5_right",
+          "gripper_binary_right"
+        ]
+      }
+    },
+    "action.cartesian_position": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "names": {
+        "axes": [
+          "x_left",
+          "y_left",
+          "z_left",
+          "roll_left",
+          "pitch_left",
+          "yaw_left",
+          "x_right",
+          "y_right",
+          "z_right",
+          "roll_right",
+          "pitch_right",
+          "yaw_right"
+        ]
+      }
+    }
+  },
+  "skill_category": "分拣/整理/打包 (Sort/Organize/Pack)",
+  "scene_category": "浴室/卫生间 (Bathroom)",
+  "camera_mapping": {
+    "observation.images.head_rgb": "head",
+    "observation.images.head_right_rgb": "head_secondary",
+    "observation.images.left_wrist_rgb": "left_wrist",
+    "observation.images.right_wrist_rgb": "right_wrist"
+  }
+}
\ No newline at end of file
diff --git a/datasets/galaxea-open-world/data/Arrange_Toiletries/meta/tasks.jsonl b/datasets/galaxea-open-world/data/Arrange_Toiletries/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dca6eaef16d9c147d81c4ea161480bbabdd4db43
--- /dev/null
+++ b/datasets/galaxea-open-world/data/Arrange_Toiletries/meta/tasks.jsonl
@@ -0,0 +1,57 @@
+{"task_index": 0, "task": "Place various toiletries into the black tray beside the sink, then move the hairdryer away from the counter."}
+{"task_index": 1, "task": "Place all small toiletry items on the bathroom counter into the black tray and arrange them."}
+{"task_index": 2, "task": "Place all toothbrushes and toothpaste from the far right of the bathroom counter into the black tray next to the sink."}
+{"task_index": 3, "task": "Place the toothbrush and razor on the bathroom counter into the black tray."}
+{"task_index": 4, "task": "Place the toothbrush and packaged razor on the bathroom counter into the black tray."}
+{"task_index": 5, "task": "Place the packaged razor and the toothpaste tube into the black tray on the bathroom countertop."}
+{"task_index": 6, "task": "Place the toothbrushes, toothpaste and small plastic items from the right of the sink into the black tray behind the sink."}
+{"task_index": 7, "task": "Place the loose toothbrushes, razor, and plastic packaging on the sink counter into the black tray."}
+{"task_index": 8, "task": "Place all toiletries on the right side of the sink into the black tray."}
+{"task_index": 9, "task": "Place a black hairdryer next to the black tray on the bathroom counter, then place all loose plastic-wrapped toothbrushes into the tray."}
+{"task_index": 10, "task": "Store the two toothbrushes and toothpaste on the bathroom countertop into the black tray."}
+{"task_index": 11, "task": "Place all toiletry items scattered on the bathroom counter into the black tray to the right of the sink."}
+{"task_index": 12, "task": "Place all toiletry items on the bathroom countertop into the empty black tray to the right of the sink."}
+{"task_index": 13, "task": "Place the toothpaste, toothbrush, and razor from the bathroom counter into the black tray."}
+{"task_index": 14, "task": "Place all loose toiletries on the right bathroom counter into the black tray beside the sink."}
+{"task_index": 15, "task": "Place all plastic-wrapped toiletries from the counter right of the sink into the black tray behind the sink."}
+{"task_index": 16, "task": "Arrange a black hairdryer and multiple travel-sized toiletries on and in the black tray next to the bathroom sink."}
+{"task_index": 17, "task": "Place multiple toiletries into the empty black tray next to the bathroom sink."}
+{"task_index": 18, "task": "Place the red-striped toothbrushes from the counter into the black tray next to the sink."}
+{"task_index": 19, "task": "Place all the toothbrushes, toothpaste and other toiletries from the countertop into the black tray next to the sink."}
+{"task_index": 20, "task": "Place multiple toiletry items into the black tray on the bathroom sink countertop."}
+{"task_index": 21, "task": "Place all scattered toiletries on the right of the sink into the black gold-trimmed tray."}
+{"task_index": 22, "task": "Place all loose toiletries on the bathroom counter into the black tray next to the sink."}
+{"task_index": 23, "task": "Place the white toothbrush from the bathroom counter into the black tray and arrange the tray's contents neatly."}
+{"task_index": 24, "task": "Place all toothbrushes on the sink counter into the black rectangular tray near the wall."}
+{"task_index": 25, "task": "Place all toiletries located to the right of the sink into the black tray behind the sink."}
+{"task_index": 26, "task": "Place the toothbrushes and transparent plastic wrapper from the countertop into the black rectangular tray next to the sink."}
+{"task_index": 27, "task": "Place all loose toiletries on the bathroom sink counter into the black tray."}
+{"task_index": 28, "task": "Place all toiletries on the counter to the right of the sink into the black tray behind them."}
+{"task_index": 29, "task": "Place all loose toiletries from the bathroom countertop into the black tray."}
+{"task_index": 30, "task": "Open the closed black tray on the bathroom countertop and place all adjacent loose toiletry items into the tray."}
+{"task_index": 31, "task": "Place all toiletries on the right of the bathroom sink into the adjacent black tray."}
+{"task_index": 32, "task": "Place all toiletries from the right of the sink into the black rectangular tray on the countertop."}
+{"task_index": 33, "task": "Place all loose and packaged oral care items from the countertop into the black tray next to the glass cups."}
+{"task_index": 34, "task": "Place all scattered small toiletry items on the bathroom countertop into the black rectangular tray."}
+{"task_index": 35, "task": "Place all small toiletry items from the right side of the bathroom counter into the black tray."}
+{"task_index": 36, "task": "Place the loose toiletries from the bathroom counter into the black rectangular tray."}
+{"task_index": 37, "task": "Place all loose toiletries from the countertop into the black tray next to the sink."}
+{"task_index": 38, "task": "Place all small toiletry items from the counter right of the sink into the black tray on the counter."}
+{"task_index": 39, "task": "Place all loose toiletries on the countertop right of the sink into the black tray on the countertop."}
+{"task_index": 40, "task": "Place all packaged toiletries on the bathroom counter into the black tray's storage compartment, then close the compartment."}
+{"task_index": 41, "task": "Place all loose toiletries on the bathroom vanity counter into the black tray next to the sink."}
+{"task_index": 42, "task": "Place all small toiletries on the right side of the bathroom sink counter into the black rectangular tray."}
+{"task_index": 43, "task": "Collect all scattered toiletries on the bathroom counter and place them into the black tray."}
+{"task_index": 44, "task": "Place all the toiletries from the sink countertop into the black tray next to the sink."}
+{"task_index": 45, "task": "Place all items on the right side of the bathroom sink into the black tray on the counter."}
+{"task_index": 46, "task": "Place all loose toiletry items on the countertop in front of the black tray into the black tray."}
+{"task_index": 47, "task": "Place all loose toiletries on the bathroom sink counter into the black gold-trimmed tray."}
+{"task_index": 48, "task": "Place all scattered small toiletries on the bathroom sink counter into the black tray with gold trim."}
+{"task_index": 49, "task": "Place all toothbrushes and toothpaste tubes from the right of the sink into the black tray behind the sink."}
+{"task_index": 50, "task": "Place the toothbrush, razor, and toothpaste from the bathroom counter into the black tray next to the sink."}
+{"task_index": 51, "task": "Place all the toiletry items in front of the black tray into the black tray on the bathroom countertop."}
+{"task_index": 52, "task": "Place the toothbrushes on the bathroom countertop into the black tray beside the sink."}
+{"task_index": 53, "task": "Place all scattered toiletries on the right of the bathroom sink into the black tray."}
+{"task_index": 54, "task": "Open the black tray, place all scattered toiletries to the right of the sink into the tray, then close the tray."}
+{"task_index": 55, "task": "Place all scattered toiletries on the bathroom sink counter into the black tray to the right of the sink."}
+{"task_index": 56, "task": "Open the black tray on the bathroom counter, place the adjacent toothbrush, toothpastes, and razor into the tray, then close the tray."}
diff --git a/datasets/galaxea-open-world/data/Arrange_Toiletries/videos/chunk-000/observation.images.head_rgb/episode_000000.mp4 b/datasets/galaxea-open-world/data/Arrange_Toiletries/videos/chunk-000/observation.images.head_rgb/episode_000000.mp4
new file mode 100644
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+++ b/datasets/galaxea-open-world/data/Arrange_Toiletries/videos/chunk-000/observation.images.head_rgb/episode_000000.mp4
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diff --git a/datasets/galaxea-open-world/data/Arrange_Toiletries/videos/chunk-000/observation.images.head_rgb/episode_000001.mp4 b/datasets/galaxea-open-world/data/Arrange_Toiletries/videos/chunk-000/observation.images.head_rgb/episode_000001.mp4
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