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+{"episode_index": 0, "tasks": ["stack ball"], "length": 2839, "global_instruction": "Stack all orange, yellow, and blue circular discs onto the vertical pegs of the wooden base on the desk.", "scene_description": "An office desk holds scattered orange, yellow, and blue circular discs, a wooden base with vertical pegs, papers, a blue NUC box, cables, and small tools, with office monitors, chairs, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves into position above the desk, repeatedly grasps scattered orange discs and stacks them onto one vertical peg of the wooden base, then repeats the stacking process for yellow discs onto a second peg, then grasps and places the blue disc onto the third peg, completing the stacking task.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 19, "tasks": ["stack ball"], "length": 2624, "global_instruction": "Stack all orange, yellow, and blue circular discs onto the leftmost vertical peg of the wooden base.", "scene_description": "A wooden office table holds scattered orange, yellow, blue circular discs, a wooden base with three vertical pegs, a blue 'nuc' box, papers, cables, and other office clutter; the background features office desks with monitors, chairs, and a whiteboard.", "global_instruction_dense": "The right robotic arm enters the scene, moves toward scattered discs on the table, repeatedly grasps each disc, moves it to the leftmost vertical peg of the wooden base, lowers and releases it onto the peg, stacking all discs (orange first, then yellow, then blue) on the peg, before moving away from the stack.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 20, "tasks": ["stack ball"], "length": 3257, "global_instruction": "Stack all scattered orange, yellow, and blue circular discs onto the leftmost peg of the wooden base on the table.", "scene_description": "A wooden office table holds scattered orange, yellow, blue circular discs, a wooden peg base, a blue NUC box, loose papers, tools, and a right-side robotic arm; the background has office desks, monitors, and a marked whiteboard.", "global_instruction_dense": "The right robotic arm sequentially grasps scattered orange circular discs from the table, stacks each onto the leftmost peg of the wooden base, then repeats the process for yellow discs, and finally places the remaining blue disc onto the same peg.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 21, "tasks": ["stack ball"], "length": 3393, "global_instruction": "Stack all orange discs, followed by the two yellow discs and the blue disc, onto the leftmost peg of the wooden base.", "scene_description": "A wooden office desk holds a wooden base with three vertical pegs, multiple orange circular discs, two yellow circular discs, one blue circular disc, a blue 'nuc' branded box, loose papers, and miscellaneous items. A white and black robotic arm is positioned on the right of the desk, with an office workspace of monitors, chairs, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm repeatedly grasps each orange disc from the desk, lifts and places them onto the leftmost peg of the wooden base to form a stack, then grasps each yellow disc and stacks them on top of the orange stack, then grasps the blue disc and stacks it on the top of the full disc stack.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 22, "tasks": ["stack ball"], "length": 2984, "global_instruction": "Stack all orange, yellow, and blue circular discs onto the leftmost peg of the wooden base.", "scene_description": "A wooden tabletop holds scattered orange, yellow, and blue circular stacking discs, a wooden rectangular base with vertical pegs, a purple NUC box, loose papers, electronic cables, a black bowl, a cardboard box on the left, and office desks with monitors and chairs in the background. A robotic arm is positioned above the discs on the right.", "global_instruction_dense": "The right robotic arm grasps orange discs from the table one by one and stacks them on the leftmost peg of the wooden base, then grasps yellow discs and stacks them on the same peg, then grasps the blue disc and stacks it on top of the existing stack on the peg.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 23, "tasks": ["stack ball"], "length": 3117, "global_instruction": "Stack all orange, yellow, and blue circular discs onto the pegs of the wooden base on the table.", "scene_description": "A wooden table in an office holds a rectangular wooden base with three vertical pegs, multiple orange circular discs, two yellow circular discs, one blue circular disc, a blue NUC box, scattered white papers, a black bowl, and other small office supplies. A right robotic arm is positioned at the top right of the frame, with computer monitors, gray office chairs, and a white wall with writing in the background.", "global_instruction_dense": "The right robotic arm first grasps orange circular discs from the table and stacks all of them on the leftmost peg of the wooden base, then grasps yellow discs to stack on the middle peg, and finally grasps the blue disc to stack on the rightmost peg of the base.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 24, "tasks": ["stack ball"], "length": 3055, "global_instruction": "Stack all orange, yellow, and blue circular discs onto the leftmost peg of the wooden puzzle board.", "scene_description": "A wooden office desk holds a 4-peg wooden puzzle board, multiple orange circular discs, two yellow circular discs, one blue circular disc, a blue 'nuc' box, loose papers, and tools. Office monitors, a whiteboard, and chairs form the background.", "global_instruction_dense": "The right robotic arm grasps each orange circular disc from the desk, moves it to the leftmost peg of the puzzle board and stacks it, then grasps each yellow disc and stacks it on the same peg, then grasps the blue disc and stacks it on top of the stack, before retracting away.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 25, "tasks": ["stack ball"], "length": 2734, "global_instruction": "Stack orange and yellow circular discs onto the leftmost peg of the wooden numbered base on the table.", "scene_description": "A wooden table in an office holds a wooden numbered peg base, multiple orange circular discs, two yellow circular discs, and one blue circular disc around the base; a blue 'nuc' box, scattered papers, small tools, and electronic components are also on the table, with office desks, monitors, and chairs in the background, and a right white robotic arm with black joints positioned above the table.", "global_instruction_dense": "The right white robotic arm with a gripper repeatedly grasps orange discs from the table, lifts and moves them over the leftmost peg of the wooden base, releases them to stack on the peg, then repeats the same process for yellow discs to stack on the same peg, before returning to a resting position above the table.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 26, "tasks": ["stack ball"], "length": 2801, "global_instruction": "Stack orange, yellow, and blue circular discs onto the leftmost peg of the wooden numbered base on the office desk.", "scene_description": "An office desk holds a blue 'nuc' box, scattered papers, tools, a wooden numbered peg base, and loose orange, yellow, blue circular discs; a robotic arm is positioned at the upper right of the desk, with office monitors, chairs, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves to the loose circular discs on the desk, sequentially grasps each orange, yellow, and blue disc, lifts it, positions it over the leftmost peg of the wooden base, and releases it to stack all discs onto the peg.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 27, "tasks": ["stack ball"], "length": 2859, "global_instruction": "Stack all the orange, yellow, and blue circular discs onto the leftmost peg of the wooden base.", "scene_description": "A wooden office desk holds a blue 'nuc' box, assorted small office supplies, a wooden base with four vertical pegs, multiple orange circular discs, two yellow circular discs, and one blue circular disc. In the background, there are office monitors, gray chairs, a whiteboard with writing, and a 'fetch' robotic unit on the left, while a white and black robotic manipulator arm is positioned above the right side of the desk.", "global_instruction_dense": "The right robotic gripper picks each orange disc from the desk, stacks them on the leftmost peg of the wooden base, then picks and stacks the two yellow discs onto the same peg, then picks and stacks the blue disc onto the peg before moving away from the completed stack.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 28, "tasks": ["stack ball"], "length": 2916, "global_instruction": "Stack the colorful circular discs on the desk onto the leftmost peg of the wooden stacking base.", "scene_description": "A wooden office desk holds colorful circular discs (red, orange, yellow, blue) next to a wooden stacking base with pegs; a blue NUC box, loose papers, electronic wires, and office monitors are in the background, with a Fetch robotic arm on the left side of the desk, and the active robotic arm on the right side.", "global_instruction_dense": "The right robotic arm moves to each colorful circular disc on the desk in sequence, grasps each disc, lifts it, moves it to the leftmost peg of the wooden stacking base, and releases it to stack the disc onto the peg, placing all selected discs onto the peg by the end of the video.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 29, "tasks": ["stack ball"], "length": 2634, "global_instruction": "Stack all scattered discs from the desk onto the vertical wooden stacking post.", "scene_description": "An office desk holds a vertical wooden stacking post with no discs, multiple scattered orange circular discs, two yellow circular discs, one blue circular disc, a purple 'nuc' box, loose papers, and small office items; a white 'fetch' robot is on the left of the desk, multiple monitors and a large whiteboard are in the background, and a robotic arm is positioned on the right side of the desk.", "global_instruction_dense": "The right robotic gripper sequentially grasps scattered orange, yellow, and blue discs from the office desk, moves each disc over the vertical wooden stacking post, lowers the disc onto the post, and releases it, stacking all discs onto the post in sequence.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 30, "tasks": ["stack ball"], "length": 2850, "global_instruction": "Stack red discs onto the left post and yellow discs onto the middle post of the wooden stacking toy base.", "scene_description": "A wooden office desk holds a three-post wooden stacking toy base, scattered red, orange, yellow, blue stacking discs, two blue 'nuc' boxes, loose papers, tools, and a 'fetch' robotic arm on the left, with no manipulator arm visible in the right workspace initially.", "global_instruction_dense": "The right robotic arm enters the workspace, moves to scattered red discs, grasps each red disc one by one to stack them onto the leftmost post of the stacking toy, then moves to scattered yellow discs, grasps each yellow disc one by one to stack them onto the middle post, before returning to its resting position.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 31, "tasks": ["stack ball"], "length": 2808, "global_instruction": "Stack the scattered colored circular discs on the desk onto the vertical peg on the wooden base.", "scene_description": "A wooden office desk holds a vertical peg on a rectangular wooden base, scattered red, orange, yellow, and blue circular discs, a blue NUC box, loose papers, and small tools. A right robotic arm is positioned above the desk at the top right, with monitors, office chairs, a whiteboard, and a second left robotic arm in the background.", "global_instruction_dense": "The right robotic arm repeatedly moves to individual scattered red, orange, yellow, and blue circular discs on the office desk, grasps each disc, lifts it, moves it over the vertical peg on the wooden base, lowers it onto the peg, and releases it to stack the discs onto the peg.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 32, "tasks": ["stack ball"], "length": 2812, "global_instruction": "Stack all scattered colored circular stacking discs onto the pegs of the wooden base on the table.", "scene_description": "An office workspace with a wooden table holding scattered orange, blue, and yellow circular stacking discs, an empty wooden peg base, two blue Intel NUC boxes, loose papers, and office supplies; a Fetch robot is on the left side of the table, a FRANKA EMIKA robotic arm is on the right, with office desks, monitors, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the scattered colored circular stacking discs on the table, repeatedly grasps each disc, lifts it, moves it to the corresponding peg on the wooden base, lowers and releases the disc to stack it onto the peg until all discs are stacked onto the base's pegs, then moves away from the base.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 33, "tasks": ["stack ball"], "length": 2859, "global_instruction": "Stack the scattered orange, yellow, and blue discs onto the leftmost post of the wooden stacking base.", "scene_description": "A wooden office tabletop holds scattered orange, yellow, and blue circular discs, a three-post wooden stacking base, a blue 'nuc' box, loose papers, and a fetch robot on the left, with multiple monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm navigates over the tabletop, sequentially grasps scattered orange, then yellow, then blue circular discs, lifts each disc, stacks them onto the leftmost post of the wooden base, and moves away from the completed stack.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 34, "tasks": ["stack ball"], "length": 2855, "global_instruction": "Stack all scattered orange, yellow, and blue circular stacking discs onto the leftmost vertical peg of the wooden stacking base.", "scene_description": "An office desk holds scattered orange, yellow, and blue circular stacking discs, a wooden base with three vertical pegs, a blue \"nuc\" box, loose papers, electronic cables, multiple office monitors in the background, a fetch robot on the left, and a black-and-white robotic arm on the right.", "global_instruction_dense": "The right robotic arm sequentially picks up each scattered orange circular stacking disc from the office desk surface and stacks them one by one onto the leftmost vertical peg of the wooden base, then stacks the two yellow circular discs onto the orange stack, and finally stacks the single blue circular disc on top of the entire stack on the leftmost peg.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 35, "tasks": ["stack ball"], "length": 2821, "global_instruction": "Stack the orange and yellow circular discs onto the corresponding pegs of the wooden stacking board on the office desk.", "scene_description": "A brown wooden office desk holds a purple 'nuc' box, scattered white papers, an orange utility cutter, a black computer mouse, a wooden stacking board with three vertical pegs, and multiple loose orange, yellow, and blue circular stacking discs. A white and black robotic arm is positioned at the right edge of the desk, and a 'fetch' robot, multiple computer monitors, office chairs, and a large whiteboard are visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the loose circular discs on the desk, grasps each orange disc in turn, moves it to the leftmost peg of the stacking board, and releases it to stack; next it grasps each yellow disc, moves it to the middle peg, and releases it to stack, before resetting its position above the desk.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 36, "tasks": ["stack ball"], "length": 2574, "global_instruction": "Stack red and yellow circular discs onto the leftmost peg of the wooden stacking board on the table.", "scene_description": "A wooden office table holds a blue 'nuc' box, loose red, orange, and yellow circular stacking discs, a wooden board with three vertical pegs, assorted office supplies (papers, tools, headphones), and a fetch robot on the left side of the table. The background has multiple computer monitors, office chairs, and a large whiteboard. A white robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves over the loose discs on the table, sequentially grasps multiple red discs to stack onto the leftmost peg of the wooden board, then grasps yellow discs to add to the stack on the same peg, before moving away from the board to its rest position.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 37, "tasks": ["stack ball"], "length": 2619, "global_instruction": "Stack all loose orange, yellow, and blue circular discs onto the three pegs of the wooden stacking toy base on the desk.", "scene_description": "A wooden stacking toy base with three vertical pegs sits on a brown office desk, with multiple loose orange, yellow, and blue circular stacking discs to the right of the base. A right robotic arm is positioned at the upper right of the scene, with office monitors, a whiteboard, and another robotic arm in the background.", "global_instruction_dense": "The right robotic arm moves to the loose circular stacking discs on the desk, sequentially picks up multiple orange discs and stacks them on the leftmost peg of the wooden base, then picks up multiple yellow discs and stacks them on the middle peg, then picks up a blue disc and stacks it on the rightmost peg, before moving away from the completed stack.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 38, "tasks": ["stack ball"], "length": 3092, "global_instruction": "Stack all scattered orange and yellow circular discs onto the left red peg of the wooden shape sorting board.", "scene_description": "A wooden shape sorting board with a red leftmost peg is on an office desk. Multiple orange, yellow, red, and blue circular stacking discs are scattered near the board. A white and black robotic arm is positioned above the desk, with office supplies (blue NUC boxes, papers, an orange tool), a Fetch robot, monitors, and a marked whiteboard in the background.", "global_instruction_dense": "The robotic arm sequentially grasps each scattered orange circular disc from the desk, lifts and moves it to the left red peg of the sorting board, and stacks it on the peg, then repeats the process for each scattered yellow circular disc to stack them atop the orange discs on the same peg.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 39, "tasks": ["stack ball"], "length": 2954, "global_instruction": "Stack the red and yellow circular discs onto the leftmost peg of the wooden base on the desk.", "scene_description": "An office desk holds a wooden base with three vertical pegs at its right edge, next to which lie multiple circular discs in red, yellow, orange, and blue. A blue 'nuc' box, loose papers, a stapler, and assorted office supplies are placed on the desk, with multiple computer monitors, a glass whiteboard, office chairs in the background, and another 'fetch' robotic arm on the left side of the desk.", "global_instruction_dense": "The right robotic arm moves toward the red circular discs on the desk, repeatedly grasps each red disc, moves it to the leftmost peg of the wooden base, releases it to stack on the peg, then switches to grasping yellow circular discs and stacks them onto the same leftmost peg before moving away from the base.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 40, "tasks": ["stack ball"], "length": 2694, "global_instruction": "Stack the scattered orange, yellow, and blue discs onto the pegs of the wooden stacking toy on the table.", "scene_description": "A wooden office table holds scattered orange, yellow, and blue circular discs next to a wooden stacking toy with three pegs. A blue NUC box, scattered papers, cables, and a Fetch robot are also on or near the table, with an office workspace (desks, monitors, whiteboard) in the background, and a Franka Emika robotic arm positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm repeatedly moves over the scattered colorful discs on the table, grasps a disc, lifts and moves it to the corresponding peg on the wooden stacking toy, releases it to stack the disc, and continues until multiple discs are stacked on the three pegs of the toy.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 41, "tasks": ["stack ball"], "length": 3265, "global_instruction": "Stack all scattered orange and yellow circular discs onto the vertical peg of the wooden stacking board.", "scene_description": "An office desk holds a wooden stacking board with a vertical peg, scattered orange and yellow circular discs, a blue NUC box, assorted office supplies, and two robotic arms (a left Fetch arm and a right Franka Emika arm), with a row of monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic gripper navigates to each scattered orange and yellow circular disc on the desk, grasps the disc, transports it over the vertical peg of the wooden stacking board, lowers it, and releases it to stack the disc onto the peg, building a stacked tower of discs on the peg over the course of the episode.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 42, "tasks": ["stack ball"], "length": 3384, "global_instruction": "Stack the scattered circular discs onto the pegs of the wooden stacking base.", "scene_description": "An office desk has scattered red, orange, yellow, blue circular stacking discs, a wooden stacking toy base with vertical pegs on the lower right, a blue NUC box at the center left, a Fetch robot on the far left, office monitors and chairs in the background, and a white-black robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm repeatedly moves to scattered red, then orange, then yellow circular discs on the desk, grasps each disc, transports it to the wooden stacking base's pegs, and releases it to stack onto the pegs.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 43, "tasks": ["stack ball"], "length": 3012, "global_instruction": "Stack all scattered colored circular stacking discs from the desk onto the pegs of the wooden stacking toy.", "scene_description": "A wooden stacking toy with vertical pegs, scattered red, orange, yellow, and blue circular stacking discs, a blue NUC box, and assorted office supplies are on an office lab desk. A stationary Fetch robot is on the left of the desk, and a Franka robotic arm is positioned on the right above the desk, with multiple monitors and a whiteboard in the background.", "global_instruction_dense": "The right Franka robotic arm moves repeatedly over the desk, grasps each scattered colored circular stacking disc one by one, lifts each disc, and places it onto the pegs of the wooden stacking toy to stack them.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 44, "tasks": ["stack ball"], "length": 3052, "global_instruction": "Stack the colorful circular discs onto the pegs of the wooden base on the office table.", "scene_description": "An office workspace with a wooden table holding a blue 'nuc' box, scattered documents, colorful circular stacking discs (red, orange, yellow, blue), a wooden peg base for stacking, and a fetch robot on the left side of the table; the right side of the frame is initially empty.", "global_instruction_dense": "The right collaborative robotic arm sequentially picks up red, orange, yellow, and blue circular stacking discs from the table, moves each over the pegs of the wooden base, and lowers them to stack the discs on the pegs.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 45, "tasks": ["stack ball"], "length": 729, "global_instruction": "Stack loose orange and yellow discs from the table onto the vertical wooden peg.", "scene_description": "A Franka Emika robotic arm is positioned above a wooden table. The table holds a vertical wooden peg with pre-stacked red/orange discs, loose orange discs, black curved track pieces, green blocks, scissors, paper, a yellow disc, and a blue disc at the peg base. The background is an office space with desks, monitors, cabinets, and black curtains.", "global_instruction_dense": "The right robotic arm sequentially grasps two loose orange discs and one yellow disc from the wooden table, lifts each disc, moves it to the vertical wooden peg, places it on the peg to form a stack, then returns to its initial position.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 46, "tasks": ["stack ball"], "length": 593, "global_instruction": "Stack the blue and orange small discs from the table onto the red top peg of the wooden stacking toy.", "scene_description": "A light wooden office table holds a small blue circular disc, small orange circular disc, pink toy basketball, gray duct tape roll, wooden stacking toy with a red top peg, and two white cups near cardboard boxes on the table's right side; the background is an open office with desks, chairs, monitors, and a whiteboard.", "global_instruction_dense": "The right robotic arm enters the frame, grasps the blue small disc from the table, moves it to the red top peg of the wooden stacking toy and releases it onto the peg, then moves to grasp the orange small disc from the table, moves it to the peg, and releases it to stack on top of the blue disc before moving away.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 47, "tasks": ["stack ball"], "length": 686, "global_instruction": "Stack the three baseball caps on the bed into a single pile.", "scene_description": "A bed with light blue bed sheets holds three baseball caps: a black cap with a white curved logo stacked on a red cap on the left, a black cap with an orange 'S' logo and red brim in the middle, and a plain black cap with a small white logo on the right. A white robotic arm is positioned next to the right edge of the bed, with a clothes rack holding garments in the background.", "global_instruction_dense": "The right robotic arm first grasps the rightmost plain black baseball cap, moves and places it further right, then grasps the middle black-red cap with orange 'S' logo and stacks it on the plain black cap, then grasps the leftmost black-red cap with white curved logo, moves it over the existing stack, and places it on top to form a single pile of three caps.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 48, "tasks": ["stack ball"], "length": 523, "global_instruction": "Stack all three baseball caps on the bed into a single pile.", "scene_description": "A wooden-framed bed with light blue bed sheets has three baseball caps laid out on its surface: a black cap with a white brim on the left, a red cap in the middle, and a black cap with a small light-colored logo on the right. A white robotic arm is positioned to the right of the bed, with its gripper hovering above the rightmost cap.", "global_instruction_dense": "The left robotic arm descends to grasp the rightmost black baseball cap, lifts it and sets it on top of the middle red baseball cap, then grasps the combined stack of red and black caps, lifts it and places it on top of the leftmost black cap with a white brim, and finally adjusts the top of the stacked pile to align the caps.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 49, "tasks": ["stack ball"], "length": 161, "global_instruction": "Stack the yellow ball on top of the green cylinder on the toy kitchen fridge top.", "scene_description": "A white toy kitchen set with fridge, sink, and stove sits on a black workbench. A yellow ball, blue small carton, and green cylinder are placed on top of the toy fridge. Various tools, colorful blocks, and a yellow base with a red emergency button are on the foreground workbench, with an office lab with chairs and tables in the background.", "global_instruction_dense": "The right robotic gripper first grasps the green cylinder from the right of the blue carton on the toy fridge top, moves it closer to the yellow ball, then grasps the yellow ball, lifts it, and places it on top of the green cylinder.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 50, "tasks": ["stack ball"], "length": 657, "global_instruction": "Move the yellow ball from the orange bowl to the blue bowl, then stack the blue bowl on top of the orange bowl.", "scene_description": "In a kitchen workspace, an orange bowl holding a yellow ball and an empty blue bowl sit side by side on a light wooden table, with a white robotic gripper positioned above the orange bowl, and kitchen appliances and wooden cabinets in the background.", "global_instruction_dense": "The right robotic gripper first positions itself above the orange bowl, grasps the yellow ball inside, lifts and moves the ball over the adjacent blue bowl, releases the ball into the blue bowl, then grasps the blue bowl, lifts it, positions it over the orange bowl, and releases it to stack on top of the orange bowl.", "skill": "Assemble / Insert / Stack", "verb": "stack", "object": "ball", "object_category": "Geometric Primitives & Toys"}
diff --git a/datasets/droid/data/stack__ball/meta/episodes_stats.jsonl b/datasets/droid/data/stack__ball/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5351d57ab79a36aa2f25ebab17951cbf156ad615
--- /dev/null
+++ b/datasets/droid/data/stack__ball/meta/episodes_stats.jsonl
@@ -0,0 +1,51 @@
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diff --git a/datasets/droid/data/stack__ball/meta/info.json b/datasets/droid/data/stack__ball/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b88fad8db904396fdbd35d397d853b7aa592bc5f
--- /dev/null
+++ b/datasets/droid/data/stack__ball/meta/info.json
@@ -0,0 +1,255 @@
+{
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+      }
+    }
+  },
+  "skill_category": "分拣/整理/打包 (Sort/Organize/Pack)",
+  "scene_category": "抽象/桌面实验 (General Tabletop/Lab Bench)",
+  "camera_mapping": {
+    "observation.images.ext1": "external_1",
+    "observation.images.ext2": "external_2",
+    "observation.images.wrist": "right_wrist"
+  }
+}
\ No newline at end of file
diff --git a/datasets/droid/data/stack__ball/meta/stats.json b/datasets/droid/data/stack__ball/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..696d1313784948dfbb3b6cbddba61c03789616b6
--- /dev/null
+++ b/datasets/droid/data/stack__ball/meta/stats.json
@@ -0,0 +1,761 @@
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