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+{"episode_index": 0, "tasks": ["arrange cloth"], "length": 1260, "global_instruction": "Rearrange the cloths, cords, and plush tomato on the wooden table.", "scene_description": "A light wooden table holds a light pink cloth, folded lime green cloth, light green cloth, pink cloth, two white cords of different thicknesses, a red plush tomato with green leaves, and a brown cardboard box at the table's far end, with a robotic arm positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps, moves, and releases the light pink cloth, lime green cloth, thick white cord, light green cloth, thin white cord, pink cloth, red plush tomato, and pink cloth again to new positions on the wooden table, then moves back to its rest position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 1, "tasks": ["arrange cloth"], "length": 1105, "global_instruction": "Rearrange the objects grouped at the center of the wooden table to distinct positions across the table.", "scene_description": "A light brown wooden table has a red plush toy with green leaves, three cloths (light pink, pink, lime green), two white rope strips, and a brown cardboard box at its far end. A white robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the red plush toy, white rope, light pink cloth, pink cloth, lime green cloth, and remaining white ropes from the center of the table, moves each to separate positions on the table, then retracts upward to finish the task.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 2, "tasks": ["arrange cloth"], "length": 771, "global_instruction": "Rearrange the objects on the wooden table to new positions on the same table.", "scene_description": "A wooden workshop table holds a light yellow cloth, folded pink, light pink and small green fabrics with a white flexible hose resting on them, and a brown cardboard box at the far end of the table, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper sequentially grasps the light yellow cloth, white flexible hose, pink cloth, and red onion on the wooden table, moves each item to a new position on the table, and releases each item in its new location.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 3, "tasks": ["arrange cloth"], "length": 780, "global_instruction": "Rearrange the cloths, ball, pouch, and cable to new positions on the wooden table.", "scene_description": "A light wooden table holds a deep pink cloth, yellow cloth, pale pink cloth, orange ball, small gray pouch, and white curved cable, with a brown cardboard box at the table's far end, and a robotic arm positioned on the table's right side.", "global_instruction_dense": "The right robotic arm sequentially grasps the deep pink cloth, orange ball with gray pouch, pale pink cloth, white curved cable, and yellow cloth, moving each to a new position to rearrange the items on the wooden tabletop.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 4, "tasks": ["arrange cloth"], "length": 904, "global_instruction": "Spread the clustered small items on the wooden table across the table surface.", "scene_description": "A light wooden table holds a white flexible tube, light pink cloth, bright pink cloth, dark green cloth, red tagged object, yellow cloth, and a brown cardboard box at the table's far end, with a robotic arm at the table's right.", "global_instruction_dense": "The left robotic arm sequentially grasps each clustered item on the table, moves each item to a new separate position across the table surface, and releases them to spread the items apart.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 5, "tasks": ["arrange cloth"], "length": 769, "global_instruction": "Arrange the cloths and white flexible tube on the wooden table to new positions on the table surface.", "scene_description": "A light brown wooden table holds a light green cloth, a pink cloth, a pale pink cloth, a white flexible tube, a red plush strawberry toy with green leaves, and a brown cardboard box at the table's far end. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm first grasps the light green cloth, moves it near the back cardboard box and releases it; next, it grasps the pink cloth, moves it near the box and releases it; then it adjusts the position of the white flexible tube; finally, it grasps the pale pink cloth, moves it to a new position on the table and releases it.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 6, "tasks": ["arrange cloth"], "length": 911, "global_instruction": "Rearrange the cloth pieces, decorative object, and cord on the wooden worktable.", "scene_description": "A wooden worktable holds a pink cloth, light pink cloth, yellow cloth, green fabric piece, red-and-white decorative object, and white cord strip. A brown cardboard box sits at the far end of the table, and a Franka Emika robotic arm is positioned to the table's right.", "global_instruction_dense": "The right Franka Emika robotic arm grasps the pink cloth, moves and releases it near the brown box at the table's far end, then grasps the red-and-white decorative object, moves and releases it near the box, then grasps the yellow cloth, moves and releases it on the table's left side, then adjusts the light pink cloth's position, and finally repositions the white cord strip on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 7, "tasks": ["arrange cloth"], "length": 1050, "global_instruction": "Rearrange the white tube, cloths, and plush fruit on the wooden table to new positions.", "scene_description": "A wooden table has a white flexible tube, light pink, pink, yellow, green cloths, a red plush fruit with green leaves, and two small white tags on its surface. A brown cardboard box sits at the far end of the table, and a right robotic arm is positioned above the box.", "global_instruction_dense": "The right robotic arm first grasps the white flexible tube, moves and places it near the brown cardboard box at the table's far end, then grasps and repositions the light pink cloth closer to the box, next adjusts the pink cloth, then grasps and moves the red plush fruit to the right side near the box, and finally grasps, adjusts, and places the yellow cloth flat on the left side of the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 8, "tasks": ["arrange cloth"], "length": 642, "global_instruction": "Rearrange the objects on the wooden table to different positions across the table surface.", "scene_description": "A light brown wooden table has a pink cloth at the front, a white flexible cord behind the pink cloth, a crumpled light pink cloth behind the cord, a red-and-white toy fruit partially under the light pink cloth, and a brown cardboard box at the far end of the table. A robotic arm is positioned on the right side of the table above its surface.", "global_instruction_dense": "The right robotic arm first grasps the crumpled light pink cloth from the middle of the table, lifts it, and places it near the brown cardboard box at the far end, then grasps the red-and-white toy fruit, lifts and places it near the box, then adjusts the front pink cloth, then grasps the white flexible cord, lifts it, and places it on the left front of the table, before moving back to a neutral position above the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 9, "tasks": ["arrange cloth"], "length": 850, "global_instruction": "Rearrange the cloths and orange plush toy on the wooden table, moving the pink cloth to the area near the brown cardboard box.", "scene_description": "A wooden table holds a folded pink cloth on top of a folded light pink cloth, a white cord strip, and a hidden orange plush toy, with a brown cardboard box at the table's far end, storage cabinets and boxes to the table's left, and a white robotic arm to the table's right.", "global_instruction_dense": "The right robotic arm moves to the table center to grasp the top pink cloth, lifts and places it near the far-end brown cardboard box, then briefly lifts and drops the underlying light pink cloth, adjusts the positions of the pink cloth and the now-uncovered orange plush toy, moves the plush to the left of the pink cloth, then returns to its starting position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 10, "tasks": ["arrange cloth"], "length": 596, "global_instruction": "Arrange the dark pink cloth, red-green plush object, and light pink cloth on the wooden table.", "scene_description": "A wooden table holds a crumpled dark pink cloth, crumpled light pink cloth, a red-and-green plush object, a white bendable rod, and a brown cardboard box at the far end, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm grasps the dark pink cloth, moves it to the rear of the table and releases it, then grasps the red-and-green plush object, moves it leftward and releases it, then grasps the light pink cloth, adjusts its position and releases it.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 11, "tasks": ["arrange cloth"], "length": 489, "global_instruction": "Rearrange the items in the central pile on the wooden table to separate positions on the tabletop.", "scene_description": "A wooden table has a central pile of items including a white rope, pink cloth, light pink cloth, and red apple, with a brown cardboard box at its far end.", "global_instruction_dense": "The right robotic gripper sequentially grasps the white rope, light pink cloth, red apple, and pink cloth from the central pile, moves each item to a distinct position on the table, and releases each to complete the rearrangement.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 12, "tasks": ["arrange cloth"], "length": 427, "global_instruction": "Rearrange the plush toy, pink cloth, and light pink cloth to new positions on the wooden table.", "scene_description": "A light brown wooden table has a brown cardboard box at its far end; on the table's middle section are a plush toy with a red round head, a pink cloth, a light pink cloth, and a white U-shaped ring, with a robotic arm on the right side of the table.", "global_instruction_dense": "The right robotic gripper first grasps the red-headed plush toy, lifts it, moves it to the area near the brown cardboard box and releases it; next it grasps the pink cloth, lifts it, moves it to the lower front area of the table and releases it; finally it grasps the light pink cloth, lifts it, moves it to a position closer to the cardboard box and releases it.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 13, "tasks": ["arrange cloth"], "length": 929, "global_instruction": "Arrange the white ring, cloths, and hidden plush on the wooden table into separate distinct positions.", "scene_description": "A wooden table has a white curved flexible ring and a pile of pink, light pink, and white cloths on its center; a cardboard box sits to the left of the table, another cardboard box is at the table's far end, and a robotic arm is positioned to the right of the table, with a tool workbench in the background.", "global_instruction_dense": "The right robotic gripper first grasps the white ring, moves it to the table's far end and releases it, then grasps the pink cloth, moves it to the far end next to the ring and releases it, then grasps the light pink cloth, moves it right to reveal a hidden red plush with green leaves underneath and releases the cloth, then grasps the plush, moves it to the table's left side and releases it, finally grasps the pink cloth at the far end, splits it into two pieces and releases them on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 14, "tasks": ["arrange cloth"], "length": 972, "global_instruction": "Rearrange the stacked cloths and small objects on the wooden table to separate positions on the table surface.", "scene_description": "A wooden table holds a stack of cloths (top white, middle light pink with colorful printed text, bottom pink), a small green cloth piece, a red plush tomato-shaped toy with green leaves, a white curved flexible tube, and a brown cardboard box at the rear of the table. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the white top cloth, light pink printed cloth, pink bottom cloth, red plush tomato toy, and white flexible tube from the table, moving and placing each item in a distinct separate position on the wooden table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 15, "tasks": ["arrange cloth"], "length": 1077, "global_instruction": "Arrange all items from the central cloth stack into separate positions on the wooden table.", "scene_description": "A light wooden table holds a central stack of cloths: light green on top, with an orange plush flower peeking out from beneath it, followed by dark green, light pink, and pink cloths below. A Franka Emika robotic arm is positioned to the right of the table, with cardboard boxes, a workbench, and an office chair in the background.", "global_instruction_dense": "The right robotic gripper sequentially picks each item from the central cloth stack, including a light green cloth, an orange plush flower, a light pink cloth, a white cloth, a pink cloth, and a white flexible cable, and places each in a distinct position across the wooden table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 16, "tasks": ["arrange cloth"], "length": 1666, "global_instruction": "Arrange all items from the stacked pile on the left of the wooden table to separate positions across the table surface.", "scene_description": "A wooden worktable holds a stack of multi-colored cloths (yellow, light pink, pink, light green, gray) topped with a white charging cable, a brown cardboard box at the table's back, and a white robotic arm with black accents on the table's right; an office space with a chair, storage cabinets, and work supplies is in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps the white charging cable, yellow cloth, pink cloth, light pink cloth, gray cloth, red decorative object, and light green cloth from the initial stack on the wooden table, moving and placing each item to a distinct position on the table to separate the stacked items.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 17, "tasks": ["arrange cloth"], "length": 1061, "global_instruction": "Arrange the scattered cloths, cable, and plush toy to distinct positions on the wooden table.", "scene_description": "A light brown wooden table is scattered with a light green cloth, a peach-colored cloth, a pink cloth, a white cloth, a white data cable, and a small red-green plush toy, with a cardboard box at the table's far end, and a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm first grasps the light green cloth stacked on the peach-colored cloth, moves it to a lower area of the table, then grasps the pink cloth and places it near the cardboard box at the table's far end, next grasps the white cloth and places it next to the pink cloth, then lifts the white data cable and repositions it to the table's central area, and finally adjusts the small red-green plush toy to a spot near the cable.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 18, "tasks": ["arrange cloth"], "length": 1233, "global_instruction": "Sort all items from the central pile into separate positions across the wooden tabletop.", "scene_description": "A wooden tabletop holds a central pile of assorted cloths (white, pink, yellow, light pink), white cables, a red plush, a small green item, and a Franka Emika robotic arm on the right side of the table, with a cardboard box at the upper right end of the table.", "global_instruction_dense": "The right robotic arm sequentially picks assorted cloths, a red plush, a green item, and white cables from the central pile on the wooden table, moves each item to a distinct separate position across the table surface, and releases them, then adjusts the position of the remaining white cable before retracting.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 19, "tasks": ["arrange cloth"], "length": 750, "global_instruction": "Spread out the cloths, cords, and carrot plush across the surface of the wooden table.", "scene_description": "A wooden table holds a stack of cloths (light green, peach with printed text, white, pink), a thick white tube cord, a thin white cord, and a carrot-shaped plush. A robotic arm is positioned to the right of the table, with a cardboard box at the table's far end and a tool workbench in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps the light green cloth, peach printed cloth, thick white tube cord, white cloth, carrot plush, and thin white cord on the table, moves each item to a distinct area of the table, and releases them to spread all objects across the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 20, "tasks": ["arrange cloth"], "length": 949, "global_instruction": "Arrange the stacked cloths, white cord, and white tube on the wooden table into separate individual positions.", "scene_description": "A wooden table holds a stack of cloths (light pink, bright pink, yellow, white), a coiled thin white cord, a thick white flexible tube, a red plush object, and small green felt pieces. A robotic arm is positioned above the table, with a tool workbench and boxes in the background, and a colorful striped wall to the right.", "global_instruction_dense": "The right robotic arm sequentially grasps the light pink cloth, bright pink cloth with attached white cloth, standalone white cloth, yellow cloth, thin white cord, and thick white tube from the central stack on the table, moving each to a distinct separate location on the table to spread all items out.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 21, "tasks": ["arrange cloth"], "length": 1030, "global_instruction": "Spread the stacked cloths and rearrange all small objects across the wooden table.", "scene_description": "A wooden table holds stacked cloths (pink, yellow, light pink, white), a white ring-shaped object with a red interior, a red artificial tomato with green leaves, a white cable, and a brown cardboard box at the far end of the table, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper sequentially grasps the pink cloth, yellow cloth, white ring-shaped object, white cloth, light pink cloth, red artificial tomato, and white cable, spreading the cloths and rearranging all items across the wooden table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 22, "tasks": ["arrange cloth"], "length": 873, "global_instruction": "Arrange cloths from the central table pile across separate spots on the table.", "scene_description": "A wooden table holds a central pile of cloths (pink, light pink, light green, white), a cardboard box at its far end, a robotic arm above the table's right side, and workshop cabinets in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps each cloth from the central pile on the wooden table, lifts each cloth, moves it to a distinct area of the table, releases it to spread the cloths across the surface, then adjusts small items near the cloths.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 23, "tasks": ["arrange cloth"], "length": 934, "global_instruction": "Arrange the items in the central pile on the wooden table to separate distinct positions on the table.", "scene_description": "A wooden table has a central pile of items including white, light pink, and printed pink garments, a white charging cord, and a red-and-green plush strawberry, with a brown cardboard box at the far end of the table and a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps items from the central pile on the wooden table: a white garment, a white cord, a light pink garment, a printed pink garment, and a plush strawberry, moving each to a separate spot on the table to spread out the previously clustered items.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 24, "tasks": ["arrange cloth"], "length": 680, "global_instruction": "Arrange the clustered items on the wooden table to separate positions around the table edges.", "scene_description": "A wooden worktable holds a red-and-white decorative onion with green leaves on a folded white cloth, a folded pink cloth, a folded light pink printed cloth, and two white ropes. A brown cardboard box sits at the far end of the table, and a robotic arm is positioned at the table's right side.", "global_instruction_dense": "The right robotic gripper first grasps the red-and-white decorative onion and moves it to the right side near the back box, then grasps the white cloth and moves it to the table's left side, next grasps the pink cloth and moves it near the back box, then grasps the light pink printed cloth and moves it to the table's front, and finally rearranges the two white rope lengths on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 25, "tasks": ["arrange cloth"], "length": 914, "global_instruction": "Rearrange the cloths, red round object, and white cord on the wooden table to separate positions on the table surface.", "scene_description": "A light wooden table holds a pile of cloths (pink, beige with orange text, light gray), a red round object, a small green object, a white cord, and a brown cardboard box at the far end, with a robotic arm at the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the red round object, pink cloth, beige printed cloth, and white cloth, moving each to separate positions on the table, then adjusts the position of the white cord before returning to its resting position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 26, "tasks": ["arrange cloth"], "length": 962, "global_instruction": "Separate the clustered pile of items and place each item individually on the wooden table surface.", "scene_description": "A wooden table holds a clustered pile of a white cloth, pink cloth, light pink cloth, white cord, and fake red radish, with a brown cardboard box at the far end of the table, and a robotic arm positioned at the right side of the frame.", "global_instruction_dense": "The right robotic arm reaches toward the clustered pile of items on the wooden table, sequentially grasps the white cord, white cloth, fake red radish, light pink cloth, and pink cloth, lifts each item, places them in distinct separate positions across the table, and adjusts the position of the white cord before moving away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 27, "tasks": ["arrange cloth"], "length": 743, "global_instruction": "Arrange all piled items on the wooden table by placing each one individually on the table surface.", "scene_description": "A wooden table has a pile of items including light pink cloth, white cloth, pink cloth, white rope, and red strawberry-shaped plush on its left side, a cardboard box at its far end, and a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the light pink cloth, pink cloth, white rope, white cloth, and red strawberry plush from the initial pile, moves each item to a separate position on the table, and releases them to spread out all previously piled items.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 28, "tasks": ["arrange cloth"], "length": 870, "global_instruction": "Arrange all items from the central pile on the table into separate positions across the table surface.", "scene_description": "A light brown wooden table holds a central pile of items including a light pink printed cloth, white cloth, pink cloth with orange accents, two white cables, a plush red fruit with green leaves, and a brown cardboard box at the far end, with a robotic arm on the table's right side.", "global_instruction_dense": "The right robotic gripper sequentially grasps each item from the central pile on the table, lifts each item, places them individually in distinct spots on the table, then retracts to its starting position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 29, "tasks": ["arrange cloth"], "length": 822, "global_instruction": "Separate each item from the mixed pile on the wooden table and place each in an individual position on the table.", "scene_description": "A wooden table holds a mixed pile of a pink cloth, a light pink cloth, a white cloth, and a plush toy with a red head, green leaf parts, and a white stem, with a cardboard box at the far end of the table and a robotic arm to the table's right.", "global_instruction_dense": "The right robotic arm sequentially grasps the pink cloth, light pink cloth, white cloth, and plush toy from the mixed pile on the wooden table, lifts each item, and places each in separate positions across the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 30, "tasks": ["arrange cloth"], "length": 1001, "global_instruction": "Arrange the pile of clothes and white cord on the table into separate, spaced out positions.", "scene_description": "A light wooden table has a central pile of assorted fabrics (pink, light gray, light peach) and a white cord, a cardboard box sits at the table's far end, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper sequentially picks each fabric piece from the central pile on the wooden table, moves each piece to a distinct open spot on the table and releases it, then adjusts the position of the white cord twice, resulting in all items being spread out separately across the table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 31, "tasks": ["arrange cloth"], "length": 958, "global_instruction": "Arrange the stacked cloths and white cables into separate distinct positions on the wooden table.", "scene_description": "A light wooden table holds a stack of multi-colored cloths (white, pink, light peach, dark green), an orange round object, two white cables, and a brown cardboard box at the far end. A robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each cloth from the stack on the table, moves each cloth to a separate distinct position on the table and releases them, then adjusts the positions of the two white cables on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 32, "tasks": ["arrange cloth"], "length": 970, "global_instruction": "Arrange all cloths, the artificial strawberry, and the white rope on the table into a single collected pile.", "scene_description": "A black fabric-covered worktable holds a white rope, artificial red strawberry, white crumpled cloth, yellow crumpled cloth, light green crumpled cloth, and pink crumpled cloth, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the light green cloth, white rope, artificial red strawberry, white cloth, and pink cloth, places each onto a central pile, then loops the white rope around the collected pile to hold the items together.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 33, "tasks": ["arrange cloth"], "length": 779, "global_instruction": "Gather all scattered cloths, white rope, and red ball on the black tabletop into a single central pile.", "scene_description": "A black fabric-covered tabletop holds scattered items: three white cloths, two light yellow cloths, one pink cloth with orange accents, one small green cloth, a red spherical ball, and a white looped rope. A brown cardboard box rests on the left table edge, a second cardboard box sits on a small table behind the main table, a tool workbench is in the left background, and a colorful vertical striped wall lines the right side.", "global_instruction_dense": "The left robotic gripper moves over the black tabletop, sequentially grasps the rear light yellow cloth, white looped rope, red ball, left white cloth, and front light yellow cloth, placing each onto a central spot to form a single pile of items before returning to a resting position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 34, "tasks": ["arrange cloth"], "length": 1057, "global_instruction": "Gather all cloths and the white cable on the black table into a single pile at the table's back.", "scene_description": "A table covered with black fabric holds four scattered cloths (light green, white, yellow, pink) and a curved white cable. A brown cardboard box sits to the left of the table next to a small wooden stool, a tool-filled workbench is in the background, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper sequentially moves to the scattered light green cloth, yellow cloth, white cloth, pink cloth, and white cable on the black table, grasps each item individually, moves every item to the back of the table, and releases them to form a single stacked pile of all items before retracting.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 35, "tasks": ["arrange cloth"], "length": 770, "global_instruction": "Collect all scattered items on the black fabric table into a single pile on the left side of the table.", "scene_description": "A black fabric-covered table holds scattered items: a white U-shaped rope, a pink cloth, a white cloth, a light green cloth, a yellow cloth, and a red strawberry-shaped toy with a green leaf. A workbench with tools, cardboard boxes, a small wooden stool, and a right-side robotic arm are in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps the white U-shaped rope, white cloth, red strawberry toy, light green cloth, and yellow cloth scattered across the black fabric table, moves each item to the left side of the table, and places all items into a single collected pile.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 36, "tasks": ["arrange cloth"], "length": 827, "global_instruction": "Gather all scattered items on the black tabletop into a single pile at the rear of the surface.", "scene_description": "A black fabric-covered tabletop holds a red apple with green leaves, a pink cloth with orange patterns, multiple light green cloths, a white cloth, and a white drawstring. A cardboard box sits on a small table behind the main surface, with a workbench and small wooden stool to the left, and a right robotic arm positioned at the right edge of the scene.", "global_instruction_dense": "The right robotic arm sequentially grasps each scattered item (light green cloth, red apple, pink cloth, light green cloth, white drawstring) on the black tabletop, moves each item to the rear section of the table, and releases them to form a single consolidated pile.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 37, "tasks": ["arrange cloth"], "length": 691, "global_instruction": "Gather all scattered small items on the black tabletop into a single pile on the table.", "scene_description": "A black worktable holds a white flexible cable, yellow cloth, pink cloth, white cloth, and a red fake tomato with green stem, with cardboard boxes, a wooden stool, and a workbench in the background, plus two robotic arms near the right edge of the table.", "global_instruction_dense": "The left robotic arm sequentially grasps the white cable, yellow cloth, red fake tomato, and white cloth from the table, moves each to the central area above the pink cloth, and releases them to form a single gathered pile.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 38, "tasks": ["arrange cloth"], "length": 712, "global_instruction": "Arrange the radish, cloths, and white cable into a stacked pile on the black-covered table.", "scene_description": "A table covered with black fabric holds a red-and-white decorative radish with green leaves, a white cloth, a light green cloth, a pink cloth, and a white flexible cable, with a right robotic arm positioned above the right side of the table, and cardboard boxes and a workbench in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps the decorative radish, white cloth, white cable, and light green cloth, moving each to stack them together near the pink cloth on the black table, then retracts after completing the stack.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 39, "tasks": ["arrange cloth"], "length": 926, "global_instruction": "Gather all scattered items on the black table into a single pile on the table's left side.", "scene_description": "A black table holds scattered items: a pink cloth, a light yellow cloth, multiple white cloths, a white flexible tube, a small white glove, an orange ball plush, and a green triangular plush. A cardboard box sits on the table's left edge, a left robotic arm is positioned above the table's right side, and a workbench with supplies is in the background.", "global_instruction_dense": "The left robotic arm sequentially moves to each scattered item on the black table, grasps each item individually, carries each to the left side of the table, and releases each item to build a single accumulated pile of all items.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 40, "tasks": ["arrange cloth"], "length": 998, "global_instruction": "Collect all scattered cloths and the white coiled object on the black table into a single pile at the table's rear.", "scene_description": "A black work table holds scattered items: multiple cloths (white, yellow, pink, pale pink), a white coiled loop object, a green soft toy with a red top, and a cardboard box on the left table edge. A white-gray robotic arm is at the table's right, a tool-filled wooden workbench is in the background left, a small wooden stool sits at the far left, and a colorful striped wall is in the background right.", "global_instruction_dense": "The right robotic arm sequentially moves to each scattered cloth and the white coiled object on the black table, grasps each item, lifts it, moves it to the table's rear, and drops it onto the growing pile of collected items.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 41, "tasks": ["arrange cloth"], "length": 863, "global_instruction": "Arrange all scattered cloths and the orange plush tomato on the black tabletop into a single pile at the back of the table.", "scene_description": "A black tabletop holds scattered white, pale yellow, light pink, and bright pink cloths, an orange plush tomato with a white tag, and a white coiled tube; cardboard boxes and a workbench with tools are visible in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps each scattered cloth and the orange plush tomato on the black tabletop, moves each item to the back of the table, and releases them to form a single consolidated pile.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 42, "tasks": ["arrange cloth"], "length": 633, "global_instruction": "Gather all scattered cloths on the black worktable and arrange them into a single central pile.", "scene_description": "A black fabric-covered worktable holds a pale pink cloth, a white cloth, a light yellow-green cloth, a bright pink cloth, and a small red-and-green plush object, with a brown cardboard box at the back of the table and a robotic arm mounted to the right side.", "global_instruction_dense": "The right robotic gripper sequentially moves to, grasps, lifts, and places the pale pink, white, light yellow-green, and bright pink scattered cloths one by one onto a growing central pile of cloths on the worktable.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 43, "tasks": ["arrange cloth"], "length": 827, "global_instruction": "Stack all scattered cloths and small items on the black fabric-covered table into a single central pile.", "scene_description": "A table covered in black fabric holds scattered items: a white cord, multiple white cloths, a pink cloth, a light yellow cloth, a red decorative onion with green leaves, and a beige cloth near the back. A FRANKA EMIKA robotic arm is positioned to the right of the table, with a workspace including a tool chest, small wooden stool, and boxes visible in the background.", "global_instruction_dense": "The right robotic arm sequentially picks up the white cord, red decorative onion, each scattered white cloth, pink cloth, and beige cloth from the black fabric-covered table, moving each item to the table's center and releasing it to form a single stacked pile before moving away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 44, "tasks": ["arrange cloth"], "length": 900, "global_instruction": "Arrange all cloths and small objects on the black work surface into a group near the pink cloth.", "scene_description": "A black work surface holds a white flexible hose, red round object, green cloth, pink cloth, white cloth, light green cloth, and light pink cloth, with a Franka Emika robotic arm positioned to the right of the surface, and workbenches with tools and boxes in the background.", "global_instruction_dense": "The right robotic arm sequentially picks and moves the white flexible hose, red round object, white cloth, light green cloth, and light pink cloth across the black work surface to group all items near the pre-placed pink cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 45, "tasks": ["arrange cloth"], "length": 289, "global_instruction": "Rearrange the yellow cloth on the black conference table.", "scene_description": "A black conference table holds a brown cardboard box on its left, a flat bright yellow cloth in the foreground, a white tablet with a black border, a small black remote, and a green marker further back, with black office chairs surrounding the table.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves toward the flat yellow cloth on the table, grasps and manipulates the cloth to crumple and reposition it, then lifts away and exits the frame, leaving the crumpled yellow cloth on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 46, "tasks": ["arrange cloth"], "length": 400, "global_instruction": "Arrange the white storage organizer by closing its open top drawer and rotating it to face sideways.", "scene_description": "A white multi-drawer storage organizer with an open top drawer sits on a white worktable. A robotic arm is positioned to the right of the table, and an office background with 3D printer filament spools, a framed portrait on the wall, and a person working at a desk is visible.", "global_instruction_dense": "The right robotic arm moves toward the open top drawer of the white storage organizer on the worktable, pushes the drawer closed, then grips the organizer to rotate it 90 degrees so its drawer fronts face sideways, then moves away from the organizer.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 47, "tasks": ["arrange cloth"], "length": 332, "global_instruction": "Arrange all cloths and the red radish on the table into a pile near the window side of the table.", "scene_description": "A white round table next to a large window holds a light pink cloth, dark brown cloth, bright pink cloth, and a red plush radish with green leaves, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the light pink cloth, dark brown cloth, bright pink cloth, and red plush radish, placing each item in order to form a single pile near the window on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 48, "tasks": ["arrange cloth"], "length": 536, "global_instruction": "Rearrange the stacked cloths by placing each cloth separately on the table surface.", "scene_description": "A light yellow wooden table has a white plastic bag with orange circular patterns on the left, a stack of folded cloths at the center, a white open storage box with a brown snack bag inside on the right, and a black bowl of toy fruits at the bottom right.", "global_instruction_dense": "The right robotic arm enters the frame from the right, moves to the central cloth stack on the yellow table, sequentially grasps the white, pink, and light beige cloths from the stack, moves each cloth to the right of the original stack, places them down, then moves away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 49, "tasks": ["arrange cloth"], "length": 436, "global_instruction": "Adjust the position of the light pink cloth on the wooden table.", "scene_description": "A light brown wooden table holds a white plate with green and yellow blocks, a black bowl, a white bag with orange accents containing orange and green balls, a transparent bag of brown items, a pink cloth, a light pink cloth, a small blue object, and a white rectangular box at the table's rear, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves toward the light pink cloth on the right portion of the table, grasps it, lifts and shifts it to reposition it on the table surface, releases it, then grasps the cloth again to adjust its placement before releasing and moving upward away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 50, "tasks": ["arrange cloth"], "length": 276, "global_instruction": "Move the scattered cloths on the table to group them together.", "scene_description": "A light brown wooden table in an office holds a white plate with green and yellow blocks, an orange small container, a plastic bag of brown items, a brown stuffed bear on a red-and-white striped bag, a white rectangular box, scattered pink, light beige and light green cloths, a red plush peach with green leaves, a black bowl, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm first moves down to grasp the light beige cloth, lifts and shifts it left to the other cloths and releases it, then moves to grasp the light green cloth, lifts and shifts it left onto the grouped cloths before releasing it.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 51, "tasks": ["arrange cloth"], "length": 289, "global_instruction": "Rearrange the dark blue cloth on the yellow table by grasping and lifting its sections.", "scene_description": "A yellow table has a dark blue cloth laid on its surface, a white storage bin on the right edge of the table, a brown cardboard box behind the table, a camera mounted on an adjustable stand to the left of the table, and tools on a black work surface below the table.", "global_instruction_dense": "The right robotic gripper moves into position above the dark blue cloth on the yellow table, grasps different sections of the cloth three separate times, lifting and releasing each section to rearrange the cloth on the tabletop.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 52, "tasks": ["arrange cloth"], "length": 351, "global_instruction": "Arrange the purple checkered cloth to properly cover the white storage box on the table.", "scene_description": "A yellow table holds a white storage box with a dark side handle topped with a purple checkered cloth, alongside piles of black, off-white, and pink folded clothes; a brown cardboard box sits further back on the table, with a concrete wall on the table's right and a dark blue wall on its left.", "global_instruction_dense": "The left robotic gripper repeatedly grasps, lifts, and repositions the purple checkered cloth on the white storage box to adjust its placement so it properly covers the box, then moves upward after the final adjustment.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 53, "tasks": ["arrange cloth"], "length": 403, "global_instruction": "Arrange the purple checkered cloth to drape over the white storage box", "scene_description": "A yellow table holds a white storage box topped with a purple checkered cloth, a pile of folded clothes to the box's right, and a brown cardboard box in the background, with a dark partition on the left and concrete wall on the right.", "global_instruction_dense": "The left robotic arm moves toward the purple checkered cloth on top of the white storage box, grasps sections of the cloth, pulls them to drape over the box's edges, and adjusts the cloth multiple times to arrange it properly over the box.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 54, "tasks": ["arrange cloth"], "length": 360, "global_instruction": "Reposition the dark blue cloth to lay it flat on the table near the folded towel.", "scene_description": "A light yellow table holds a folded light gray towel topped with a white plate and a yellow cup with a pink lid, multiple fabric pieces including a dark blue cloth, a pink printed cloth, a purple patterned cloth, a green avocado on a white plate, and a white clipboard; an open brown cardboard box sits behind the table items, with orange office chairs and windows in the background.", "global_instruction_dense": "The right robotic gripper moves toward the dark blue cloth on the right side of the table, grasps it, lifts it, moves it leftward closer to the folded towel, places it down, and adjusts the cloth to lay flat on the table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 55, "tasks": ["arrange cloth"], "length": 319, "global_instruction": "Rearrange the clothes placed on the yellow tabletop", "scene_description": "A yellow table holds a white storage bin on its left, four clothes (pink with orange text, white, light pink with printed text, dark blue) from left to right, and a plate with small items at the far end. A single robotic arm is positioned above the table, with orange office chairs and large windows in the background.", "global_instruction_dense": "The robotic arm sequentially grasps the light pink printed shirt, white shirt, pink shirt with orange text, and dark blue shirt on the yellow table, adjusting each to new positions on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 56, "tasks": ["arrange cloth"], "length": 456, "global_instruction": "Arrange all scattered clothes on the table into a single pile.", "scene_description": "A light yellow wooden table holds a white plastic container on the left, a brown cardboard box behind the container, and four scattered pieces of clothing: pink, dark blue, light pink with printed text, and white. A concrete pillar is behind the table, with orange chairs with white legs next to a long desk by large windows in the background.", "global_instruction_dense": "The left robotic gripper first grasps the pink piece of clothing, moves it onto the dark blue clothing, grasps both, moves them onto the light pink printed clothing, grasps all three, moves them onto the white clothing, and piles all four pieces of clothing together.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 57, "tasks": ["arrange cloth"], "length": 403, "global_instruction": "Arrange the dark blue and pink shirts into a pile with other clothes on the table.", "scene_description": "A yellow table holds a white box with a dark blue shirt draped over its edge, pink shirt, white printed shirt, grey socks, a plate with red decorative fruit, blue sponge, paper and pen, with a concrete pillar and two orange chairs in the background.", "global_instruction_dense": "The right robotic arm first grasps the dark blue shirt on the white box, places it on the table with other clothes, then grasps the pink shirt and places it on top of the clothes pile.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 58, "tasks": ["arrange cloth"], "length": 176, "global_instruction": "Rearrange the stacked clothes by moving each top piece to the left side of the table.", "scene_description": "A light yellow table holds a stack of folded clothes (gray on top, pink in middle, printed light beige at bottom), a white plate with a red peach decor with green leaves, and a light blue water bottle at the right end. Orange chairs are to the left of the table, and a night-view window is behind the table.", "global_instruction_dense": "The left robotic gripper moves to grasp the gray top fabric from the stack, moves it left and places it on the table, then returns to grasp the pink fabric under it, moves it left and places it next to the gray fabric.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 59, "tasks": ["arrange cloth"], "length": 376, "global_instruction": "Rearrange the clothing items on the yellow table by moving the pink garment next to the light pink printed shirt and adjusting the white cloth.", "scene_description": "A yellow table holds a folded pink-and-white clothing stack, a light pink printed folded shirt, a white plate with a red radish decor, and a light blue water bottle from left to right. Two orange chairs are positioned under the left edge of the table.", "global_instruction_dense": "The right robotic arm first adjusts the position of the light pink printed shirt, then grasps the pink garment from the left clothing stack, moves it right to place it next to the light pink shirt, and finally adjusts the position of the remaining white folded cloth multiple times.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 60, "tasks": ["arrange cloth"], "length": 540, "global_instruction": "Crumble the pale pink t-shirt and white cloth, then arrange them on the left side of the table.", "scene_description": "A light yellow long table holds a small pink cloth on its left side, a pale pink t-shirt with colorful printed text, a folded white cloth, a white round plate, a small blue fabric piece, and a light blue water bottle on its far right. Orange chairs are positioned to the left of the table, and a glass door with a silver handle sits behind the table's right side.", "global_instruction_dense": "The right robotic arm enters the scene, grasps and crumples the pale pink t-shirt, moves it to the left side of the table near the small pink cloth, then grasps and starts crumpling the white cloth on the right.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 61, "tasks": ["arrange cloth"], "length": 442, "global_instruction": "Rearrange the cloth pieces on the left of the table to group them closer to the white plate.", "scene_description": "A yellow table holds items left to right: a pink cloth with orange spots, dark blue cloth, light gray towel, blue sponge, red apple, small white plate, and light blue water bottle with a gold cap, next to a glass window with a metal horizontal handle.", "global_instruction_dense": "The right robotic arm first grasps the pink cloth with orange spots, moves it right to place it near the white plate, then grasps the dark blue cloth, moves it right to place it next to the revealed light pink cloth under it, finally adjusts the light pink cloth's position on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 62, "tasks": ["arrange cloth"], "length": 391, "global_instruction": "Rearrange the light grey cloth on the yellow tabletop by moving it and adjusting its shape.", "scene_description": "A yellow table holds folded light grey, dark blue, and light pink fabrics, a small blue sponge, a black spray bottle, a white round plate, a light blue water bottle, a transparent pasta bag, and a red apple, with a robotic arm at the table's left edge.", "global_instruction_dense": "The left robotic arm grasps the folded light grey cloth on the left of the table, moves it rightward to place it near the white plate, manipulates it to reshape it into a rolled form, then moves toward the light blue water bottle.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 63, "tasks": ["arrange cloth"], "length": 417, "global_instruction": "Remove dark blue clothing and a brown stuffed toy from the white bin, place them on the table, and arrange the clothing around the toy.", "scene_description": "A yellow table holds a white storage bin with folded clothing (dark blue, light pink, white, purple) and a brown stuffed toy, a brown cardboard box, a small orange object near a concrete pillar, and a small yellow cap to the right of the bin, with a robotic arm positioned on the left side of the frame.", "global_instruction_dense": "The left robotic arm moves toward the white storage bin on the yellow table, grasps the dark blue clothing inside the bin, lifts it, places it on the empty table area, returns to the bin to grasp the brown stuffed toy, lifts it, places it on top of the dark blue clothing, then adjusts the clothing to wrap around the stuffed toy.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 64, "tasks": ["arrange cloth"], "length": 363, "global_instruction": "Rearrange a white piece of clothing inside the laundry basket", "scene_description": "A laundry basket holding white clothes rests on the wooden floor of a home kitchen, with a stainless steel refrigerator, wooden cabinets, and kitchen appliances in the background, and the left robotic gripper is positioned above the basket.", "global_instruction_dense": "The left robotic gripper moves downward toward the laundry basket, grasps a white piece of clothing from inside it, lifts and adjusts the clothing in the air, then lowers it back into the basket and releases it to rearrange the contents.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 65, "tasks": ["arrange cloth"], "length": 441, "global_instruction": "Rearrange the white and gray plaid clothes on the bed.", "scene_description": "A bed with light blue bedsheets holds three pieces of clothing: a dark blue garment, a gray plaid garment, and a white garment, with a clothing rack of hanging clothes in the background beside the bed.", "global_instruction_dense": "The right robotic gripper first moves toward the white garment on the bed, grasps and lifts it, moves it leftward to place it on top of the dark blue garment, then moves to the gray plaid garment, grasps and lifts it, adjusts its position, and places it back on the bed.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 66, "tasks": ["arrange cloth"], "length": 203, "global_instruction": "Rearrange the clothing pieces placed on the light blue bed.", "scene_description": "A wooden-framed bed with light blue bed sheets holds four clothing items: two folded dark navy garments, one crumpled white garment, and one small black garment with white edge trim; a white robotic arm is positioned to the right of the bed next to a clothing rack with hanging shirts.", "global_instruction_dense": "The right robotic arm extends over the bed, first grasps and repositions the crumpled white garment, then moves toward the folded dark navy garment on the upper left of the bed to adjust its position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 67, "tasks": ["arrange cloth"], "length": 395, "global_instruction": "Arrange clothing items on the bed by repositioning the folded plaid garment and moving a dark blue clothing piece.", "scene_description": "A bed with light blue sheets holds a folded gray-white plaid garment, a black sock, and a stack of dark blue clothing on top of white clothing, with a robotic arm at the right edge of the bed.", "global_instruction_dense": "The right robotic arm moves toward the folded plaid garment on the bed, grasps and shifts it to a new position and releases it, then moves to the dark blue clothing stack, grasps a dark blue piece, moves it left to the area near the plaid garment, releases it onto the bed, and lifts upward away from the bed.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 68, "tasks": ["arrange cloth"], "length": 461, "global_instruction": "Rearrange the dotted off-white cloth on the bathroom sink counter.", "scene_description": "A stone bathroom sink counter with a white sink, a dotted off-white cloth on the left counter edge, various toiletries (blue mouthwash bottle, green toothbrush cup, small purple-lidded container, toiletry boxes) on the counter, a mirror above the sink, and a white robotic arm left of the counter.", "global_instruction_dense": "The left robotic arm moves toward the dotted off-white cloth on the left edge of the sink counter, grasps it, lifts and repositions it on the counter surface, flattens it, adjusts its placement, and sets it down neatly.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 69, "tasks": ["arrange cloth"], "length": 334, "global_instruction": "Arrange the blue cloth on the white table.", "scene_description": "A blue cloth is placed on the right of a white table, a white robotic arm is positioned left of the cloth, with office glass doors in the background.", "global_instruction_dense": "The left robotic arm moves toward the blue cloth on the right side of the table, repeatedly pushes, lifts and adjusts the cloth to rearrange its position, then moves back to its initial position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 70, "tasks": ["arrange cloth"], "length": 412, "global_instruction": "Rearrange the dark blue cloth on the white table to adjust its folds and placement.", "scene_description": "A crumpled dark blue cloth lies on the right side of a white table, a robotic arm is positioned to the left of the cloth, with office glass doors in the background.", "global_instruction_dense": "The left robotic arm moves toward the dark blue cloth, sequentially grasps different sections of the cloth, pulls and repositions each grasped section to adjust the cloth's folds and position on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 71, "tasks": ["arrange cloth"], "length": 141, "global_instruction": "Arrange the red cloth and cleaning brush on the white tabletop.", "scene_description": "A white round table holds a crumpled red cloth, a teal bowl with white cubes, a teal plastic cup, and a white cleaning brush with a black bristle head. A white robotic arm is positioned to the left of the table in an office space.", "global_instruction_dense": "The right robotic arm moves toward the crumpled red cloth on the table, grasps and adjusts its position, then moves to grasp the cleaning brush and adjust its orientation on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 72, "tasks": ["arrange cloth"], "length": 255, "global_instruction": "Reposition the light blue and white cloth on the kitchen counter.", "scene_description": "A white right robotic arm is positioned near a granite kitchen counter. The counter holds a stainless steel coffee maker, white cups, a light blue and white cloth, and stainless steel pots sit on the adjacent stove.", "global_instruction_dense": "The right robotic arm lowers toward the light blue and white cloth on the granite kitchen counter, grasps the cloth, moves it to adjust its position on the counter surface, then releases the cloth and lifts away from the counter.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 73, "tasks": ["arrange cloth"], "length": 295, "global_instruction": "Rearrange the pieces of clothing in the pile on top of the washing machine.", "scene_description": "Three white commercial washing machines are in a laundry room, a yellow water bottle, white detergent bottle, and a pile of mixed clothing rest on top of the machines, with a white robotic arm positioned to the left of the washers.", "global_instruction_dense": "The left robotic gripper approaches the clothing pile on the washing machine top, grasps a dark piece of clothing, lifts it, moves it to a new position in the pile, and releases it to rearrange the stack.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 74, "tasks": ["arrange cloth"], "length": 416, "global_instruction": "Rearrange dark navy clothing pieces on the tabletop clothes stack", "scene_description": "A white table holds a stack of mixed clothes (dark navy, blue plaid, white pieces), a beige capped water bottle, a white laundry detergent container, and a pink-edged floral fabric bag. A white robotic arm is on the left, with a washing machine in the left background.", "global_instruction_dense": "The left robotic arm moves toward the tabletop clothes stack, grasps a dark navy clothing item, lifts and places it back on the stack, then grasps a dark navy clothing item, lifts and adjusts it before placing it back onto the clothes stack.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 75, "tasks": ["arrange cloth"], "length": 267, "global_instruction": "Repeatedly adjust the position of the blue cloth using the robotic arm.", "scene_description": "A white robotic arm is positioned above a blue cloth in a robotics lab, with office tables, wheeled chairs and ceiling lights in the background.", "global_instruction_dense": "The right robotic arm performs repeated left and right swinging motions, pushing the blue cloth to adjust its placement multiple times.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 76, "tasks": ["arrange cloth"], "length": 442, "global_instruction": "Adjust the position of the beige cloth on the white kitchen countertop.", "scene_description": "A dark green circular plate, a crumpled beige cloth, a black electrical cord, and a clear water bottle with a blue label are placed on a white kitchen countertop; wooden cabinets are mounted above the counter, and a robotic arm is positioned at the far right end of the counter.", "global_instruction_dense": "The right robotic arm moves from its initial position at the right end of the counter toward the beige cloth, grasps its edges multiple times to lift and reposition the cloth on the counter, then moves upward away from the cloth after adjusting its placement.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 77, "tasks": ["arrange cloth"], "length": 511, "global_instruction": "Rearrange the pink cloth to a new position on the white table.", "scene_description": "A white table against a wall with electrical switches and a socket holds two rolls of tape (beige and gray), a small wooden coat rack, a pink cloth, colorful small toys, a game controller, and two small orange items, with a robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the pink cloth on the table, grasps and adjusts its grip on the cloth, lifts and repositions the cloth above the table, places it back on the table in an adjusted position, then releases the cloth and moves away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 78, "tasks": ["arrange cloth"], "length": 287, "global_instruction": "Arrange the pink cloth on the white tabletop.", "scene_description": "A white table holds a wooden cup rack, two tape rolls, a flat pink cloth, small items including an orange cup and toys. A white robotic arm is at the table's right end, with electrical outlets on the adjacent left wall.", "global_instruction_dense": "The right robotic gripper moves toward the flat pink cloth on the table, grasps it, lifts and pulls it to adjust its position, releases the cloth, then moves back to its initial position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 79, "tasks": ["arrange cloth"], "length": 419, "global_instruction": "Move the pink cloth off the black tray and arrange it next to the light blue appliance on the table.", "scene_description": "A white table holds a light blue mini appliance at center left, a small dish with a red toy apple at the far left, a black power cord next to the blue appliance, a pink cloth resting on a black tray at the right, three small pots (light blue, dark blue, black) behind the cloth, and a toy burger at the far right.", "global_instruction_dense": "The right robotic arm moves over the table, repeatedly grasps sections of the pink cloth resting on the black tray, pulls the cloth left to clear the tray, and gathers the cloth next to the light blue mini appliance.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 80, "tasks": ["arrange cloth"], "length": 478, "global_instruction": "Reposition the pink cloth closer to the light blue appliance on the table.", "scene_description": "A white table holds a light blue countertop appliance at center-left, a small plate with a red toy tomato left of the appliance, a black power cord next to the plate, a teal kettle, two blue small pots, one black small pot right of the appliance, a pink cloth in front of the pots, a black griddle tray right of the cloth, and a toy hamburger on a blue plate at the far right.", "global_instruction_dense": "The right robotic gripper moves toward the pink cloth on the right side of the table, repeatedly grasps, lifts, and shifts the cloth leftward multiple times, releases it near the light blue appliance, then moves upward away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 81, "tasks": ["arrange cloth"], "length": 202, "global_instruction": "Reposition the pink cloth on the table by adjusting its sections.", "scene_description": "A white table holds a light blue toy appliance left of center, a black power cord left of the appliance, a white dish with a red toy tomato at the far left, a blue teapot and two blue cups behind the appliance, a black pot at the back right, a toy burger on a small blue dish at the far right, a pink cloth partially covering a black tray right of center, with a right robotic gripper above the cloth.", "global_instruction_dense": "The right robotic gripper first descends to grasp the lower edge of the pink cloth, lifts and releases it to reposition the edge, then moves to grasp an upper section of the pink cloth, lifts and releases that section to adjust the cloth's placement, then moves away from the cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 82, "tasks": ["arrange cloth"], "length": 253, "global_instruction": "Adjust the position of the pink cloth on the white table.", "scene_description": "A white table holds a beige dish with a red toy apple at the left, a black power cord, a light blue small appliance at the center, a blue kettle, two blue pots and one black small pot behind the appliance, a pink cloth resting on a black tray at center-right, and a toy hamburger on a small blue plate at the far right.", "global_instruction_dense": "The right robotic gripper moves toward the pink cloth resting on the black tray on the table, repeatedly grasps different sections of the cloth to reposition it on the table surface, then moves upward away from the cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 83, "tasks": ["arrange cloth"], "length": 347, "global_instruction": "Arrange the partially hanging blue cloth to lay flat on the kitchen counter.", "scene_description": "A white kitchen counter has a black coffee machine on its left, a blue cloth partially hanging over its right edge, a glass with brown liquid at the left, a roll of tape, a white tissue pack, and a gray microwave in the background. A white paper towel dispenser is mounted on the wall behind the counter, and a green first aid box is on the far wall.", "global_instruction_dense": "The right robotic gripper grasps the hanging edge of the blue cloth, lifts and pulls it leftward to spread the entire cloth flat on the white counter, then releases the cloth and moves upward away from the counter.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 84, "tasks": ["arrange cloth"], "length": 176, "global_instruction": "Reposition the green cloth on the wooden work surface.", "scene_description": "A bright green cloth lies flat on a light wooden work surface, adjacent to a white sink with a gray curved faucet, in an office workspace background.", "global_instruction_dense": "The right robotic arm moves into the frame, lowers to grasp the edge of the green cloth on the work surface, lifts and shifts the cloth to a new position on the surface, then releases the cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 85, "tasks": ["arrange cloth"], "length": 281, "global_instruction": "Arrange the green cloth to lie flat on the wooden tabletop.", "scene_description": "A crumpled green cloth rests on a light wooden tabletop, with an office workspace and people in the background.", "global_instruction_dense": "The right robotic arm moves into view above the table, lowers its gripper to contact the crumpled green cloth, then repeatedly drags and adjusts the cloth to spread it flat across the wooden tabletop.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 86, "tasks": ["arrange cloth"], "length": 251, "global_instruction": "Arrange the overhanging green cloth to lay fully flat on the wooden countertop.", "scene_description": "A green cloth with its left edge overhanging, and a yellow banana to the cloth's left, are placed on a wooden countertop. A white sink with a grey faucet sits to the right of the countertop.", "global_instruction_dense": "The right robotic gripper descends toward the overhanging edge of the green cloth, grasps it, lifts and pulls the cloth fully onto the countertop, then adjusts the cloth to lay flat on the wooden surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 87, "tasks": ["arrange cloth"], "length": 264, "global_instruction": "Reposition the green cloth on the wooden tabletop.", "scene_description": "A wooden table has a yellow banana-shaped object on its left side and a folded green cloth on its right side. A gray office chair is to the left of the table, and a sink with a gray faucet is to the right of the table.", "global_instruction_dense": "The right robotic arm moves above the green cloth on the wooden table, grasps it, lifts and shifts it to a new position on the table, releases it, then grasps the cloth to adjust its position further.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 88, "tasks": ["arrange cloth"], "length": 211, "global_instruction": "Rearrange the green cloth on the wooden-topped cabinet", "scene_description": "A gray office chair is to the left of a wooden-topped cabinet. A yellow banana sits left of a green cloth on the cabinet top. A white sink with a gray faucet and a teal container are to the cabinet's right.", "global_instruction_dense": "The right robotic arm moves down toward the green cloth on the cabinet top, grasps its edge, pulls it to adjust its position, then releases the cloth and lifts away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 89, "tasks": ["arrange cloth"], "length": 155, "global_instruction": "Rearrange the green cloth on the wooden tabletop", "scene_description": "A wooden tabletop holds a yellow banana and a green cloth, with an office workspace and a seated person in the background.", "global_instruction_dense": "The left robotic arm moves into position above the wooden tabletop, lowers to grasp the green cloth, lifts and moves it to a new position near the partition, then lowers it back onto the table and releases it.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 90, "tasks": ["arrange cloth"], "length": 176, "global_instruction": "Arrange the green cloth on the wooden countertop", "scene_description": "A wooden countertop holds a green cloth and two yellow fake peppers, with a blue storage bin in a sink area to the counter's right, and a person using a laptop seated on an office chair to the counter's left.", "global_instruction_dense": "The left robotic arm moves above the green cloth on the wooden countertop, lowers its gripper to grasp the cloth, lifts and repositions it on the counter, then releases the cloth to complete the arrangement.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 91, "tasks": ["arrange cloth"], "length": 137, "global_instruction": "Adjust the position of the green cloth on the wooden toy countertop.", "scene_description": "A wooden toy counter holds a folded green cloth with a yellow toy carrot on top. A yellow toy banana sits in the open section below the counter, a grey toy faucet is behind the counter, two blue planters with red toy radishes are behind the faucet, and a toy gas stove is to the right of the faucet.", "global_instruction_dense": "The left robotic arm moves downward toward the green cloth on the wooden counter, grasps the cloth, shifts it to a new position on the counter, then releases the cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 92, "tasks": ["arrange cloth"], "length": 125, "global_instruction": "Rearrange the green cloth to a new position on the wooden countertop.", "scene_description": "A green cloth rests on a wooden counter next to a white sink with a grey faucet. An open drawer below holds a red toy boat with colorful blocks, and a grey office chair is positioned to the left of the counter.", "global_instruction_dense": "The right robotic arm descends toward the green cloth on the wooden counter, grasps it with its gripper, lifts and moves it to a new position on the counter, then releases it to complete placement.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 93, "tasks": ["arrange cloth"], "length": 135, "global_instruction": "Arrange the green cloth on the wooden countertop beside the sink.", "scene_description": "A wooden countertop sits next to a white sink with a grey faucet. A folded green cloth rests on the counter. To the left of the counter, there is a grey office chair and a workbench holding coiled grey cable and a black power tool with an orange handle.", "global_instruction_dense": "The left robotic arm descends toward the green cloth on the wooden counter, makes contact with the cloth, drags it across the counter to reposition it, then lifts upward away from the cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 94, "tasks": ["arrange cloth"], "length": 123, "global_instruction": "Reposition the green cloth to a new position on the brown table.", "scene_description": "A brown table holds a red wooden box with a beige lid, a small silver lidded pot, a light blue plush toy, a yellow toy, and a crumpled green cloth, in an office/lab workspace.", "global_instruction_dense": "The left robotic arm moves toward the green cloth on the brown table, grasps it, lifts it slightly, moves it to a new spot on the table, releases the cloth, then retracts upward.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 95, "tasks": ["arrange cloth"], "length": 144, "global_instruction": "Arrange the silver lid and green cloth on the brown tabletop.", "scene_description": "A brown tabletop holds a yellow toy pepper, yellow toy banana, folded green cloth, silver round lid, small bowl with small blue and orange items, and a cream-and-red small wooden box, set in a lab workspace background.", "global_instruction_dense": "The right robotic arm lowers toward the brown table, moves the silver circular lid slightly, then shifts to the folded green cloth and adjusts its position on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 96, "tasks": ["arrange cloth"], "length": 174, "global_instruction": "Adjust the position of the green cloth on the brown table.", "scene_description": "A brown table holds a flat green cloth, a red-fronted open wooden box with orange items inside, a cream closed slot-top wooden box, and a yellow elongated bread roll, in a workshop environment with office chairs and workstations in the background.", "global_instruction_dense": "The right robotic arm moves down toward the green cloth on the brown table, grasps a section of the cloth, adjusts its position on the table surface, then releases the cloth and lifts away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 97, "tasks": ["arrange cloth"], "length": 142, "global_instruction": "Arrange the crumpled green cloth to lay flat on the brown table", "scene_description": "A brown table holds a crumpled green cloth, a small round silver metal container, and a beige box with a red front panel, in an office workspace with grey office chairs and miscellaneous equipment in the background.", "global_instruction_dense": "The left robotic arm lowers toward the crumpled green cloth on the brown table, grasps the cloth with its gripper, lifts and adjusts the cloth, places it back onto the table in a flatter orientation, then releases the cloth and retracts upward.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 98, "tasks": ["arrange cloth"], "length": 319, "global_instruction": "Reposition the green cloth placed on the brown table.", "scene_description": "A brown table holds a bright green cloth, a silver circular lid, a blue-and-white milk carton, a yellow bread-shaped object, and a cream-colored box with a red front panel; no robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm moves above the brown table, grasps the green cloth, lifts and repositions it to multiple spots on the table surface, then releases the cloth and retracts.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 99, "tasks": ["arrange cloth"], "length": 256, "global_instruction": "Rearrange the green cloth and silver metal bowl on the tabletop.", "scene_description": "A brown wooden table holds a silver metal bowl, a green cloth, a red-front wooden box, a slotted beige box, and a purple container, in an office space with office chairs in the background.", "global_instruction_dense": "The left robotic arm descends to grasp the green cloth, lifts and places it back on the table, then moves to grasp the silver metal bowl, lifts and repositions the bowl at a new position on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 100, "tasks": ["arrange cloth"], "length": 312, "global_instruction": "Rearrange the green cloth, purple cup, and silver lid on the brown table.", "scene_description": "A brown table holds a silver lidded small metal dish, a folded green cloth, a small purple cup, and a red-fronted beige wooden box arranged left to right.", "global_instruction_dense": "The right robotic arm first descends to grasp and adjust the folded green cloth on the table, then grasps the purple cup and moves it left next to the metal dish, then grasps the silver lid from the dish and places it beside the purple cup.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 101, "tasks": ["arrange cloth"], "length": 328, "global_instruction": "Adjust the positions of the green cloth and purple cup on the brown table.", "scene_description": "A brown table holds a green cloth, small silver bowl, transparent purple cup, red-beige open box of orange items, beige slotted box, and small brown plush toy, with an office workspace in the background.", "global_instruction_dense": "The left robotic arm first adjusts the position of the green cloth on the brown table, then grasps the transparent purple cup, moves it to a new spot near the front of the table and releases it, then adjusts the green cloth again.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 102, "tasks": ["arrange cloth"], "length": 118, "global_instruction": "Arrange the blue cloth to lie flat on the wooden table.", "scene_description": "A brown wooden table holds a blue cloth, a labeled white tin can, a light brown potato, and a small silver metal bowl, with workspace boxes and a person in a grey shirt in the background.", "global_instruction_dense": "The right robotic arm descends from above toward the blue cloth on the wooden table, contacts the cloth, and adjusts it to flatten smoothly on the table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 103, "tasks": ["arrange cloth"], "length": 138, "global_instruction": "Arrange the blue cloth on the brown wooden table.", "scene_description": "A brown wooden table holds a folded blue cloth, two silver metal dishes, a beige potato, and a white tin can with green and yellow labels. Stacked boxes and seated people are visible in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the table, grasps the blue cloth on the table surface, and repositions the cloth to adjust its placement on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 104, "tasks": ["arrange cloth"], "length": 354, "global_instruction": "Arrange the folded green cloth on the brown wooden table", "scene_description": "A folded green cloth, a red open-top box with a wooden knob, a silver circular lid, a blue-and-white container, a light yellow bottle, and a small round beige object are placed on a brown wooden table.", "global_instruction_dense": "The right robotic arm descends towards the folded green cloth on the brown table, presses and adjusts the position of the cloth, then lifts away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 105, "tasks": ["arrange cloth"], "length": 249, "global_instruction": "Adjust the position of the folded green cloth on the brown table.", "scene_description": "A brown wooden table in a lab workspace holds a red drawer with a cream top, silver round lid, light brown round object, silver metal bowl, light yellow bottle, and folded green cloth, with office chairs and people in the background.", "global_instruction_dense": "The right robotic arm descends toward the folded green cloth on the brown table, adjusts the cloth's position with its gripper, then lifts upward and moves away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 106, "tasks": ["arrange cloth"], "length": 135, "global_instruction": "Arrange the position of the yellow folded cloth on the brown wooden table.", "scene_description": "A folded yellow cloth rests on the right half of a brown wooden table. A person in a light blue polo sits on an office chair to the left of the table, with lab equipment and worktables in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the folded yellow cloth on the brown table, grasps the cloth, pulls it leftward across the table surface, pushes it rightward to adjust its position, then releases the cloth and lifts upward away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 107, "tasks": ["arrange cloth"], "length": 507, "global_instruction": "Arrange the folded light blue cloth on the brown wooden table.", "scene_description": "A brown wooden table holds a folded light blue cloth at its center, a small orange object to the left of the cloth, and a small green object to the right of the cloth, with lab equipment and people in the background.", "global_instruction_dense": "The right robotic arm moves into the frame, lowers to make contact with the folded light blue cloth on the wooden table, then presses and moves the cloth in multiple directions to adjust its position and flatten it.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 108, "tasks": ["arrange cloth"], "length": 331, "global_instruction": "Adjust the position of the light blue cloth on the brown wooden table.", "scene_description": "A brown wooden table holds a folded light blue cloth, a small green object, and an orange object. A black workbench with tools and cables sits left of the table, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm lowers into the frame, makes contact with the light blue cloth on the brown table, drags and adjusts the cloth's position repeatedly, then lifts away from the arranged cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 109, "tasks": ["arrange cloth"], "length": 311, "global_instruction": "Arrange the light brown potato and folded gray cloth on the wooden table.", "scene_description": "A brown wooden table holds a light brown rounded potato on its right half and a folded gray cloth on its left half, in a cluttered workshop office with furniture and boxes in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves the light brown potato from the right half of the table to its left edge, then adjusts the position of the folded gray cloth on the table before moving away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 110, "tasks": ["arrange cloth"], "length": 335, "global_instruction": "Move the potato to the rear of the table then arrange the folded gray cloth.", "scene_description": "A brown wooden table holds a folded gray cloth on its left half and a light brown potato on its right half in a workshop space.", "global_instruction_dense": "The left robotic arm descends to grasp the potato, moves it to the rear of the table and releases it, then moves to the folded gray cloth and manipulates it to adjust its arrangement on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 111, "tasks": ["arrange cloth"], "length": 727, "global_instruction": "Wipe the brown table with the yellow cloth and rearrange the red ball and beige oval object on the table.", "scene_description": "A brown table holds a folded yellow cloth at its center, a red round ball at its right edge, and a beige oval object on its upper left, with a cluttered workspace and a seated person in the background.", "global_instruction_dense": "The left robotic arm enters from the top left of the frame, uses the folded yellow cloth to wipe the brown table surface, pushes the red round ball from the table's right edge to the left of the cloth, pushes the beige oval object from the table's upper left to the right of the cloth, then exits the frame.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 112, "tasks": ["arrange cloth"], "length": 721, "global_instruction": "Rearrange objects on the brown table by moving the red and beige items rightward and adjusting the yellow cloth.", "scene_description": "A brown wooden table holds a folded yellow cloth, a light beige potato-shaped object, and a red round object with a green stem. A robotic arm is positioned above the left side of the table, with a person sitting at a desk behind the table.", "global_instruction_dense": "The right robotic arm first grasps the red round object with a green stem, moves it rightward and places it on the table, then adjusts the folded yellow cloth's position multiple times, next grasps the light beige potato-shaped object and moves it rightward next to the red object, and finally adjusts the yellow cloth's position further.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 113, "tasks": ["arrange cloth"], "length": 938, "global_instruction": "Arrange the yellow cloth and red plush toy on the brown tabletop.", "scene_description": "A brown table holds a folded bright yellow cloth, a red plush toy with a green stem, and a light beige oval stone. A robotic arm is positioned above the left of the table, with a person in a gray shirt sitting behind a black chair (draped with a black jacket) to the table's right, and office supplies/boxes in the background.", "global_instruction_dense": "The left robotic arm lowers to the folded yellow cloth, presses and adjusts the cloth, then grasps the red plush toy with a green stem, moves it to the left side of the cloth and places it down, then returns to press, adjust, and flatten the yellow cloth across the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 114, "tasks": ["arrange cloth"], "length": 735, "global_instruction": "Arrange the red ornament, beige egg, and yellow cloth on the brown table.", "scene_description": "A brown table holds a red fuzzy round object with a small green stem, a light beige egg-shaped object, and a folded yellow cloth, with office supplies, boxes, and chairs in the surrounding workspace background.", "global_instruction_dense": "The right robotic arm first descends to grasp, rotate, and re-place the red fuzzy ornament, then grasps and moves the folded yellow cloth across the table, next moves the beige egg-shaped object to the right side of the table, and finally adjusts the yellow cloth's position on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 115, "tasks": ["arrange cloth"], "length": 830, "global_instruction": "Rearrange the potato, red plush toy, and yellow cloth on the brown table.", "scene_description": "A brown wooden table in a cluttered office workspace holds a red plush toy with a green stem on its left, a folded yellow cloth in the middle-left, and a light beige potato at its center.", "global_instruction_dense": "The left robotic arm first moves the light beige potato from the center of the table to its right edge, then presses and adjusts the folded yellow cloth, moves the red plush toy from the left edge of the table to the center, and adjusts the yellow cloth to reposition it on the table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 116, "tasks": ["arrange cloth"], "length": 829, "global_instruction": "Rearrange the yellow cloth and red-green toy on the brown table to the left side near the beige object.", "scene_description": "A brown table holds a folded yellow cloth at its center, a red toy with a green handle to the right of the cloth, and a beige round object to the left of the cloth, in an office workspace.", "global_instruction_dense": "The right robotic arm first moves to the folded yellow cloth at the table center, grasps and shifts it left to place it, then moves to the red toy with green handle, grasps and moves it left near the beige round object to place it, then returns to the yellow cloth to adjust its position repeatedly.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 117, "tasks": ["arrange cloth"], "length": 246, "global_instruction": "Adjust the position of the white striped cloth inside the frying pan on the table.", "scene_description": "A white round table holds a red bowl, two silver metal cups, a red mug, a white mug, a black-handled frying pan with a white cloth with red stripes inside, two silver lids, a yellow sponge, and a wooden control panel with multicolored buttons. A human hand holds the frying pan handle, and a white robotic arm is positioned off-camera to the left of the table.", "global_instruction_dense": "After a human moves the frying pan slightly and releases it, the left robotic arm moves down to the pan, grasps the white cloth with red stripes inside, adjusts the cloth's position multiple times in the pan, then releases the cloth and lifts away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 118, "tasks": ["arrange cloth"], "length": 1096, "global_instruction": "Sort the tabletop soda cans into the light blue tray and snack items into the purple tray.", "scene_description": "A light wooden table holds a light blue tray, a purple tray, a green soda can, a silver soda can, a brown soda can, multiple candy bars, an orange snack bag, a green packaged snack, and a green plastic cup; wooden cabinets and two silver refrigerators are in the background, with a white left robotic arm above the left side of the table.", "global_instruction_dense": "The left robotic arm sequentially grasps each of the three soda cans from the table and places them into the light blue tray, then grasps each of the packaged snacks and candy bars from the table and places them into the purple tray to complete the sorting task.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 119, "tasks": ["arrange cloth"], "length": 298, "global_instruction": "Rearrange the white patterned cloth on the white countertop", "scene_description": "A white cloth with red patterned edges sits on a white countertop, alongside a green small bottle, clear cups, stacked boxes, a black bowl, and a vase of yellow flowers next to a window with white blinds. A white cabinet with an open glass door is below the counter, and a robotic arm is positioned at the top right.", "global_instruction_dense": "The right robotic arm moves from the top right toward the white patterned cloth on the counter, grasps and lifts it, repositions it multiple times to adjust its placement on the counter, releases the cloth onto the surface, then retracts upward.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 120, "tasks": ["arrange cloth"], "length": 160, "global_instruction": "Arrange the black cloth and orange cushion on the gray couch", "scene_description": "A gray couch is positioned in front of windows covered with white horizontal venetian blinds. On the couch, there is a dark purple back cushion, an orange throw cushion, a black cloth, and a yellow cloth. A white robotic arm is at the upper right corner of the frame initially.", "global_instruction_dense": "The right robotic arm moves downward toward the couch, grasps the black cloth, lifts it, moves it leftward, places it on the couch, then grasps the orange cushion and adjusts its position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 121, "tasks": ["arrange cloth"], "length": 255, "global_instruction": "Rearrange the blue clothing on the lower shelf of the wooden desk.", "scene_description": "A wooden desk has a white clothes hanger, black remote control, and small orange-yellow toy on its top surface. A blue piece of clothing, light purple clothing, silver foil package, and red-white snack package are placed on the lower shelf of the desk, with a robotic arm positioned to the right of the desk.", "global_instruction_dense": "The right robotic arm moves from its initial position near the desk edge, lowers to the lower shelf, grasps the blue clothing with its gripper, lifts and repositions the blue clothing multiple times on the lower shelf, then releases the clothing and lifts away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 122, "tasks": ["arrange cloth"], "length": 188, "global_instruction": "Rearrange the pile of clothes on the lower shelf of the wooden counter.", "scene_description": "A wooden counter holds a white clothes hanger, black remote control, and small colorful container on its top surface, with piles of blue, purple, and patterned clothes on its lower shelf. A Franka robotic arm is positioned to the right of the counter, with a framed wall artwork and bunk bed visible in the background.", "global_instruction_dense": "The right robotic arm moves leftward from its initial position toward the lower counter shelf, lowers its gripper to grasp the pile of clothes, adjusts the position of the clothes by shifting them, then releases the clothes and moves slightly upward.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 123, "tasks": ["arrange cloth"], "length": 428, "global_instruction": "Rearrange the blue cloth to a new position on the kitchen counter.", "scene_description": "A white tiled kitchen counter sits under grey cabinets with silver knobs, lit by an under-cabinet light. A red lidded container rests on a white appliance at the left, a dark vintage clock leans against the tiled wall, a blue cloth lies on the counter next to a white-and-pink carton, with bowls, a plate with food scraps, and a utensil-holding bowl further back, and a right robotic arm is positioned near the rear of the counter.", "global_instruction_dense": "The right robotic arm moves toward the blue cloth on the kitchen counter, grasps it, repeatedly lifts and adjusts it to reposition it on the counter surface, then moves away after the cloth is placed in its new position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 124, "tasks": ["arrange cloth"], "length": 465, "global_instruction": "Arrange the blue cloth to cover the kitchen stove countertop.", "scene_description": "A white gas stove with black burner grates, a brown paper bag at the rear of the stove, a light blue cloth on the front edge of the stove counter, and a white robotic arm above the stove are visible in the initial kitchen scene.", "global_instruction_dense": "The right robotic arm moves from above the gas stove to the light blue cloth on the counter edge, grasps and adjusts multiple sections of the cloth to arrange it across the counter surface, then moves away from the cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 125, "tasks": ["arrange cloth"], "length": 227, "global_instruction": "Rearrange the pink-and-white striped cloth on the wooden table to a new position.", "scene_description": "A wooden table holds a white toaster oven with a black mug on top, a black keyboard, a silver spoon, a small black round dish, a clear cup, and a folded pink-and-white striped cloth. A robotic arm is positioned to the right of the table, with a white dresser, wooden chair, and living room area in the background.", "global_instruction_dense": "The right robotic arm moves toward the folded pink-and-white striped cloth on the table, grasps it, lifts and repositions it to the central area of the table, then releases the cloth and pulls back from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 126, "tasks": ["arrange cloth"], "length": 329, "global_instruction": "Adjust the arrangement of the pink and white striped cloth on the wooden table.", "scene_description": "A wooden table holds a black keyboard, black mouse, black mug, small black bowl, clear glass, metal spoon, and folded pink-and-white striped cloth, with other miscellaneous items further on the table. A white robotic arm is positioned to the right of the table, and a white dresser, chairs, and a living room with a sofa are visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the folded pink and white striped cloth on the wooden table, adjusts its grip to grasp the cloth, lifts the cloth upward, then lowers it back onto the table and releases it to adjust its placement.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 127, "tasks": ["arrange cloth"], "length": 174, "global_instruction": "Grasp and adjust the pink striped cloth bag on the wooden table.", "scene_description": "A wooden table holds assorted items including a black keyboard, black mug with a pen, clear plastic cup, black mouse, and a pink-and-white striped cloth bag. To the left of the table is a white cabinet beside a wooden chair holding a small white oven, and a living room with a grey sofa is in the background. A right robotic arm is positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves from its initial position at the right of the frame toward the pink-and-white striped cloth bag on the wooden table, lowers to grasp the bag, adjusts its position on the table surface, then lifts slightly away from the bag.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 128, "tasks": ["arrange cloth"], "length": 1017, "global_instruction": "Arrange the blue cloth on the patterned table so it lays flat.", "scene_description": "A table covered in a lemon and leaf printed tablecloth holds a white bin with a green lid, a black frying pan, a white mug with an orange flower design, and a flat blue cloth. The background features windows with floral curtains, wooden grid-back chairs, a small side table with a white plastic basket, and a counter with a landline telephone. A white robotic arm is retracted in the upper right.", "global_instruction_dense": "The right robotic arm extends from its retracted position toward the blue cloth on the table, grasps the cloth, lifts and repositions it multiple times, adjusting and smoothing it to lay flat on the lemon-patterned table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 129, "tasks": ["arrange cloth"], "length": 209, "global_instruction": "Rearrange the red and white checkered cloth on the black metal rack.", "scene_description": "A red and white checkered cloth rests on the lower tier of a black metal rack, with a pair of blue and white sneakers on the rack's upper tier, a white dresser with small items behind the rack, and a robotic arm at the far right of a light brown tabletop.", "global_instruction_dense": "The right robotic arm moves from the right side of the scene toward the red and white checkered cloth on the black metal rack, grasps the cloth, lifts it to adjust position over the rack, places the cloth back onto the rack, then retracts away from the cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 130, "tasks": ["arrange cloth"], "length": 568, "global_instruction": "Rearrange the white clothes hanger and orange tape roll on the wooden desk.", "scene_description": "A light brown wooden desk holds a white clothes hanger, a roll of orange tape, and a pair of light blue and silver sneakers. A white and grey robotic arm is positioned to the right of the desk, a framed floral picture hangs on the wall above the desk, a white table lamp sits behind the desk, and a doorway and bed with patterned bedding are visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the sneakers on the desk, shifts the white hanger left, moves and repositions the orange tape roll left, then grasps, lifts, moves, and places the white hanger in a new position on the desk.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 131, "tasks": ["arrange cloth"], "length": 438, "global_instruction": "Rearrange the yellow cloth placed on top of the white washing machine.", "scene_description": "A white countertop adjacent to a white washing machine holds an orange bowl with grain, a blue bowl, a purple cup, a stainless steel bowl, a green utensil holder with a red-topped utensil, and an orange Tide detergent box. A yellow cloth is laid flat on the washing machine, with windows showing a fenced outdoor yard with greenery in the background, and a robotic arm is visible at the top right edge.", "global_instruction_dense": "The right robotic arm moves toward the yellow cloth on the washing machine, grasps its edge, lifts and shifts the cloth before releasing it, then grasps and adjusts two more sections of the cloth to rearrange it, before moving upward away from the washing machine.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 132, "tasks": ["arrange cloth"], "length": 365, "global_instruction": "Adjust the yellow cloth on the washing machine top into a neater arrangement.", "scene_description": "A green bottle with red cap, orange bowl with grains, blue container, orange-pink Tide laundry detergent box, metal bowl, and purple cup sit on a white counter left of a white washing machine with a yellow cloth on its top, with windows overlooking a wood-fenced green yard in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow cloth on the washing machine top, repeatedly grasps different sections of the cloth to adjust its position and arrangement on the washing machine surface, then lifts away from the cloth after arranging it.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 133, "tasks": ["arrange cloth"], "length": 339, "global_instruction": "Rearrange the pale yellow cloth on the surface of the white washing machine.", "scene_description": "A pale yellow cloth and a blue rectangular plastic tray sit on top of a white washing machine under multi-pane windows showing an outdoor wooden fence and greenery; a robotic arm is mounted on the right wall, and a pink-edged container is to the left of the washing machine.", "global_instruction_dense": "The right robotic arm lowers toward the pale yellow cloth on the washing machine, grasps it, moves it to a new position, adjusts its placement multiple times, then releases the cloth and moves upward away from the machine.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 134, "tasks": ["arrange cloth"], "length": 321, "global_instruction": "Arrange the yellow cloth on the white washing machine surface.", "scene_description": "A blue plastic tray and a yellow cloth rest on the top surface of a white washing machine. A pink-rimmed container is to the left of the washing machine, and windows behind overlook a backyard with a wooden fence and green foliage. A robotic arm is positioned at the top right near the window frame.", "global_instruction_dense": "The right robotic arm moves downward from the top right, first approaches the blue tray, then moves to the yellow cloth, grasps and adjusts the cloth's position multiple times, then retracts away from the cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 135, "tasks": ["arrange cloth"], "length": 459, "global_instruction": "Rearrange the pale yellow cloth on the wooden tabletop", "scene_description": "A wooden table near a window with white blinds holds a pale yellow cloth, a printed card, colored small discs, a banana on folded grey fabric, a dotted cup, papers, a spoon, a blue bag, and a small brown object. A white robotic arm is positioned to the right of the table, next to a white coat rack, a yellow-black safety barrier, and a white shelf.", "global_instruction_dense": "The right robotic arm moves toward the pale yellow cloth on the wooden table, grasps its edge, lifts and moves the cloth to a new position, releases it, then re-grasps and adjusts the cloth to rearrange it on the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 136, "tasks": ["arrange cloth"], "length": 334, "global_instruction": "Reposition the blue cloth on the kitchen gas stovetop", "scene_description": "A blue cloth lies on a white gas stove. A metal bowl with a wooden spoon and purple container is on the right of the stove. Wall behind has spice shelves and hanging metal pots, a robotic arm is at upper right.", "global_instruction_dense": "The right robotic arm moves down to the blue cloth on the stovetop, grasps and lifts it, repositions the cloth across multiple spots on the stovetop, releases the cloth, then moves back upward.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 137, "tasks": ["arrange cloth"], "length": 529, "global_instruction": "Rearrange the dark clothing on the grey sofa near the wooden bowl.", "scene_description": "A grey sofa with patterned black-and-white cushions, a folded grey blanket, a wooden bowl holding a printed white book, and a dark piece of clothing are in the foreground; a Franka Emika robotic arm is positioned to the right of the sofa, with an orange armchair, floor lamp, and wooden counter holding a white strainer in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark clothing on the grey sofa, grasps it, adjusts its position multiple times, lowers it near the wooden bowl, and releases it.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 138, "tasks": ["arrange cloth"], "length": 338, "global_instruction": "Rearrange the small items placed on the gray sofa surface.", "scene_description": "A gray sofa with patterned throw pillows, a gray blanket, a black remote, a white card, and a brown wooden bowl holding a striped cloth sits next to a white Franka robotic arm on a green-lit table, with two orange armchairs, a floor lamp in the background, and a counter with a plastic strainer on the far left.", "global_instruction_dense": "The right mounted Franka robotic arm extends leftward over the gray sofa, lowers into the wooden bowl to adjust the striped cloth inside, moves right to adjust the position of the white card on the sofa, then begins retracting back to its starting position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 139, "tasks": ["arrange cloth"], "length": 372, "global_instruction": "Gather the scattered small clear fragments on the worktable into a concentrated group.", "scene_description": "A light wooden worktable is at the center. To its left, a raised wooden counter holds a silver aluminum tray, a blue scoop, a white mug with utensils, a clear water bottle, a large metal mixing bowl, and two white mugs. A right robotic arm is positioned above the worktable, where small clear fragments and a small black battery are scattered on the surface.", "global_instruction_dense": "The right robotic arm moves down toward the scattered small clear fragments on the wooden worktable, then repeatedly pushes and rearranges the fragments to form a more concentrated cluster on the table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 140, "tasks": ["arrange cloth"], "length": 738, "global_instruction": "Rearrange the pieces of white clothing on the washing machine surface.", "scene_description": "A white washing machine surface holds rumpled white and light gray clothes, with a black cylindrical container to the left of the clothes. A right robotic arm is positioned to the right of the washing machine, and background elements include metal shelves with cleaning supplies, a utility sink, and laundry detergent boxes.", "global_instruction_dense": "The right robotic arm completes four cycles of moving toward the white clothing on the washing machine, grasping a piece of the cloth, lifting it into the air, and releasing it to fall back onto the washing machine surface over the full video duration.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 141, "tasks": ["arrange cloth"], "length": 360, "global_instruction": "Arrange the light gray cloth flat on the wooden shelf.", "scene_description": "A light beige wooden shelf against a pale wall, with a folded light gray cloth at the back of the shelf, and a robotic arm positioned above the shelf surface.", "global_instruction_dense": "The right robotic gripper moves toward the folded gray cloth on the wooden shelf, repeatedly grasps, drags, lifts, and adjusts the cloth to spread and flatten it across the shelf surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 142, "tasks": ["arrange cloth"], "length": 154, "global_instruction": "Straighten the larger light gray cloth on the bed.", "scene_description": "A bed with yellow, gray, and white checkered bedding is in a gray-walled bedroom. On the bed, there is a white pillow, a small folded light gray cloth, a larger unfolded light gray cloth, and a small gray packaged item. A dark tall dresser sits under a window in the background, and a right robotic arm is at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the larger light gray cloth on the bed, grasps its edge, pulls it to straighten the cloth, then releases the cloth and moves back to its initial position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 143, "tasks": ["arrange cloth"], "length": 302, "global_instruction": "Adjust and flatten the folded light gray cloth on the bed.", "scene_description": "A bed covered in a yellow, gray, and white plaid bedspread holds a white pillow, a small light gray cloth, and a folded light gray cloth. A black dresser stands near the back window, a laundry bin sits on a small table to the bed's left, and a white robotic arm is positioned to the bed's right.", "global_instruction_dense": "The right robotic arm moves downward from its initial position above the bed's right side, grasps a corner of the folded light gray cloth, lifts it slightly, then repeatedly presses and adjusts the cloth to flatten it on the bed.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 144, "tasks": ["arrange cloth"], "length": 336, "global_instruction": "Arrange the light gray cloth on the small wooden table", "scene_description": "A small light-colored wooden table sits on a yellow, black, and white plaid bed, with a folded light gray cloth on the table surface; a white robotic arm is at the upper right, with a window, dark dresser, and trash bin in the room background.", "global_instruction_dense": "The right robotic arm moves toward the light gray cloth on the small wooden table, repeatedly grasps sections of the cloth to lift, pull, and adjust its position on the table before moving upward away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 145, "tasks": ["arrange cloth"], "length": 367, "global_instruction": "Adjust the position of the white cloth on the bed's front pillow.", "scene_description": "A bed with blue and beige plaid bedding holds two light beige pillows, with a white cloth resting on the front pillow. A white robotic arm with a green-lit base is positioned to the right of the bed, a nightstand with a lamp and laptop sits beside the bed near the window with blinds in the background, and a white door is on the left side of the room.", "global_instruction_dense": "The left robotic arm moves downward to grasp the white cloth on the pillow, lifts and repositions the cloth multiple times to adjust its placement, then lifts upward away from the bed after finishing the adjustments.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 146, "tasks": ["arrange cloth"], "length": 385, "global_instruction": "Rearrange the clothes hangers on the wall-mounted rack.", "scene_description": "A white perforated laundry basket rests on a tiled floor, a wall-mounted rack holding stacked clothes hangers is on the left, a bed with white linens and a plaid pillow is near a window with horizontal blinds on the right, and two robotic arms are positioned above the hanger rack in the dark room.", "global_instruction_dense": "The two robotic arms move toward the clothes hangers on the left wall rack, grip them, adjust their positions to rearrange the hangers, then release the hangers and move away from the rack.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 147, "tasks": ["arrange cloth"], "length": 430, "global_instruction": "Arrange the light blue cloth flat on the wooden countertop.", "scene_description": "A wooden countertop holds a dark spice jar with a black lid, three stainless steel measuring cups, an empty clear glass, a light blue cloth, a brown paper bag, and a clear plastic jug, with a green glowing device on the right edge and a laundry basket near a tiled wall in the background.", "global_instruction_dense": "The right robotic gripper moves down to the light blue cloth on the countertop, grasps and repositions the cloth multiple times to flatten it, then moves away from the arranged cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 148, "tasks": ["arrange cloth"], "length": 475, "global_instruction": "Arrange the folded white cloth from the toaster oven flat on the kitchen island counter.", "scene_description": "A wooden kitchen island counter holds a glass coffee pot, light blue travel cup, and white napkin holder. A black toaster oven at the counter's rear has a white plate and folded white cloth on top, with white kitchen cabinets, a sink, and black stove in the background.", "global_instruction_dense": "The right robotic gripper moves toward the folded white cloth on top of the black toaster oven, grasps it, lifts it, carries it over the wooden kitchen island counter, places it down, then adjusts and flattens the cloth on the counter surface before lifting away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 149, "tasks": ["arrange cloth"], "length": 326, "global_instruction": "Arrange the white cloth on the brown couch", "scene_description": "A brown couch is against a white wall, with a fluffy cream blanket on its left, a gray striped pillow, a cream square pillow, a white pillow, a gray woven basket, and a white cloth on the couch; a right robotic arm is positioned above the couch's right side.", "global_instruction_dense": "The right robotic arm moves downward toward the white cloth on the brown couch, presses and adjusts different sections of the cloth to arrange it neatly, then lifts upward away from the cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 150, "tasks": ["arrange cloth"], "length": 488, "global_instruction": "Rearrange the yellow cloth to different positions on the wooden dining table.", "scene_description": "A dark brown wooden dining table holds a light yellow cloth, clear plastic water bottle, silver metal pot with handle, silver pot lid, small orange cup, and black utensils. Three wooden chairs with white slats are against the white wall behind the table, and a robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the yellow cloth on the dining table, repeatedly grasps and lifts the cloth, moves it to various positions across the table surface, and releases it each time to adjust the cloth's placement.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 151, "tasks": ["arrange cloth"], "length": 193, "global_instruction": "Adjust the position of the white cloth on the wooden dining table.", "scene_description": "A dark brown wooden dining table holds an orange bottle with a grey cap, a green folded cloth, a clear plastic bottle, stacked blue cups, a purple utensil, a grey cylindrical container, a small yellow cup, a white cloth, and metal cutlery. A right robotic arm is positioned above the table, with wooden chairs against white walls and a white refrigerator in the background.", "global_instruction_dense": "The right robotic arm moves downward from its initial position above the table, makes contact with the white cloth, adjusts its position on the table surface, then releases the cloth and moves upward away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 152, "tasks": ["arrange cloth"], "length": 214, "global_instruction": "Adjust the position of the white cloth on the wooden dining table", "scene_description": "A dark brown wooden dining table holds an orange bottle with a gray cap, black tongs, a light green cloth, a clear plastic bottle, stacked light blue cups, a gray cylindrical container, a white cloth, a small yellow cup, and metal cutlery. A single robotic arm is positioned over the right side of the table, with wooden dining chairs, white walls, a window, and a white refrigerator in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the white cloth on the dining table, adjusts the cloth to reposition it neatly, then lifts upward and retracts away from the table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 153, "tasks": ["arrange cloth"], "length": 130, "global_instruction": "Grasp and rearrange the light-colored cloth on the lower bunk bed.", "scene_description": "A lower wooden bunk bed with a grey, black, and white pebble-patterned bedspread holds a white two-tier wire shelf on the left, a grey woven basket to the right of the shelf, a pile of light-colored cloth on the far right, and a robotic arm at the right edge of the bed, with closed blinds behind the shelf.", "global_instruction_dense": "The right robotic arm moves toward the light-colored cloth on the right of the lower bunk, grasps it, lifts and adjusts its position, then releases it back onto the bed before moving upward.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 154, "tasks": ["arrange cloth"], "length": 379, "global_instruction": "Rearrange the contents of the three-tier metal storage rack placed on the bed.", "scene_description": "A three-tier white metal storage rack sits on a black bed with grey and white circular polka dot bedding. The rack's top tier holds a red bowl and a white lint roller, its lower tier holds a light beige plush toy. A wooden bunk bed is to the left of the rack, and an open closet doorway is in the background, with a right robotic arm partially visible at the upper right edge.", "global_instruction_dense": "The right robotic arm moves toward the three-tier metal storage rack on the bed, adjusts the position of the red bowl on the rack's top tier, grasps and tilts the rack to reposition the white lint roller and other items on its tiers, then releases the rack and moves away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 155, "tasks": ["arrange cloth"], "length": 270, "global_instruction": "Rearrange the green cloth and metal bottle rack on the white tabletop.", "scene_description": "A white table holds several clear plastic water bottles, a green cloth, a metal bottle rack, a dark toaster oven, and a roll of white paper towels. A robotic arm is positioned at the right of the table, with sheer white curtains and a brown sofa in the background.", "global_instruction_dense": "The right robotic arm moves to the green cloth in the center of the table, grasps it, lifts and moves it to the left edge near the curtains, places it down, then moves to the metal bottle rack, grasps and adjusts its position, releases it, and retracts upward.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 156, "tasks": ["arrange cloth"], "length": 258, "global_instruction": "Rearrange the black cloth on the white table to adjust its placement.", "scene_description": "A white conference table holds a flat black cloth, wooden shape-sorting box, open light wood tray, beige insulated water bottle, two bowls of food, a laptop, a tablet, and stationery items, with a right robotic arm positioned above the table's right edge.", "global_instruction_dense": "The right robotic arm moves downward to grasp the black cloth on the white table, drags and adjusts the cloth across the table surface in multiple directions to rearrange its position, then releases the cloth and moves upward away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 157, "tasks": ["arrange cloth"], "length": 608, "global_instruction": "Rearrange the blue cloth on the left table into a compact bunched shape.", "scene_description": "Two adjacent light wooden tables with red legs are in a robotics lab. A flat blue cloth rests on the left table, alongside small orange, blue, green plastic cups, a white paper roll, and grey gloves. A yellow mug on a red plate and sealed plastic-wrapped items sit on the right table. A stationary white robotic unit is at the left edge, and a white robotic manipulator arm is positioned above the left table.", "global_instruction_dense": "The right robotic arm moves down toward the flat blue cloth on the left table, repeatedly grasps, lifts, and moves separate sections of the cloth to bunch it into a compact shape, then lifts upward away from the rearranged cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 158, "tasks": ["arrange cloth"], "length": 1522, "global_instruction": "Repeatedly grasp, lift, and reposition the green cloth on the wooden tabletop.", "scene_description": "A green cloth rests on the left section of a light wooden table, with small green, orange, and blue cups positioned behind it, a yellow mug on a red plate to its right, and packaged items on an adjacent table to the far right. A white robotic arm is positioned above the table, in a robotics lab workspace with additional robots, office desks, and a yellow storage shelf in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the green cloth on the left section of the wooden table, and repeatedly lifts, repositions, adjusts, and drops the cloth back onto the table surface across multiple manipulation cycles.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 159, "tasks": ["arrange cloth"], "length": 2019, "global_instruction": "Rearrange the teal cloth to adjust its position on the wooden tabletop.", "scene_description": "A teal cloth sits on the left section of a light wooden table; small green, orange, and blue containers are positioned behind the cloth, while a yellow mug on a red plate and a packaged item rest on the right section of the table, with a white robotic arm above the left table area and lab equipment in the background.", "global_instruction_dense": "The right robotic arm repeatedly grasps the teal cloth on the left of the wooden table, lifts it, adjusts its position on the table surface, releases it, and repeats these actions across multiple cycles before moving upward away from the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 160, "tasks": ["arrange cloth"], "length": 333, "global_instruction": "Rearrange the teal cloth on the wooden tabletop.", "scene_description": "A light brown wooden table holds a teal cloth at its center, four small colored cups (pink, green, orange, blue) left of the cloth, a yellow mug on a red plate right of the cloth; a robotic arm is positioned above the table, with a yellow storage rack and red stools in the background.", "global_instruction_dense": "The right robotic arm repeatedly grasps, lifts, and drops the teal cloth to reposition it across the wooden table before returning to its starting position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 161, "tasks": ["arrange cloth"], "length": 495, "global_instruction": "Arrange the yellow cloth on the wooden table", "scene_description": "Two adjacent light wooden tables hold a grey cloth, yellow cloth, orange cup, blue cup, light blue cloth, red plate with a yellow mug, and packaged blue fabric item from left to right. Red stools are under the tables, with a white robotic arm to the left of the tables and office equipment plus yellow storage racks in the background.", "global_instruction_dense": "The right robotic arm descends to grasp the yellow cloth, lifts and repositions it rightward before releasing it, briefly shifts the orange cup leftward, then returns to flatten, adjust, and push the yellow cloth leftward on the table before moving away.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 162, "tasks": ["arrange cloth"], "length": 1700, "global_instruction": "Arrange the cloths on the left wooden table so portions of each cloth hang over the table edge.", "scene_description": "Two adjacent light wooden tables are in a lab space. The left table holds a folded yellow cloth, small orange and blue plastic containers, and a folded light blue cloth; the right table holds a red plate with a yellow mug and a plastic-wrapped blue item. Red stools are under the tables, a yellow storage shelf and office electronics are in the background, and a white robotic arm is positioned above the left table.", "global_instruction_dense": "The left robotic arm first grasps the yellow cloth, shifts it to hang partially over the left table edge, then grasps the gray cloth and places it on top of the yellow cloth with part hanging over the edge, then grasps the light blue cloth and repeatedly adjusts its position to hang partially over the right edge of the left table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 163, "tasks": ["arrange cloth"], "length": 1661, "global_instruction": "Arrange and flatten the light blue cloth on the wooden table.", "scene_description": "A light brown wooden table holds a light blue cloth, a yellow folded cloth, a gray folded cloth, and a yellow mug on a red plate, with small colorful cups in the background. A white robotic arm with a gripper is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm repeatedly grasps, lifts, repositions, and presses the light blue cloth on the wooden table to flatten and arrange it properly across the table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 164, "tasks": ["arrange cloth"], "length": 4153, "global_instruction": "Arrange the pieces of clothing placed on the wooden worktable by moving and spreading each one.", "scene_description": "A wooden worktable holds multiple pieces of clothing: black, red, gray, and green plaid. A dual-arm white robot with blue grippers is positioned at the table, and a kitchen with wooden cabinets, a stainless steel fridge, microwave, and stove is in the background, with a person in a gray hoodie near the stove.", "global_instruction_dense": "The right robotic gripper first grasps the black clothing on the table, lifts and moves it to spread it flat on the left side of the table, then moves to grasp the gray clothing, lifts it to shift and spread it on the table, adjusting the positions of the clothes to organize them.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 165, "tasks": ["arrange cloth"], "length": 603, "global_instruction": "Adjust the placement of the white cloth on the wooden kitchen table.", "scene_description": "A white left robotic arm is positioned above a light wooden table with a flat white cloth laid across its surface, small items including a blue cup and stacked colorful bowls sit on the right side of the table, and a breakroom kitchen with brown upper cabinets, stainless steel double-door refrigerator, microwave, and stove is visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the edge of the white cloth on the wooden table, grasps the cloth edge, lifts and repositions the cloth multiple times to adjust its placement on the table surface, then releases the cloth and returns to a raised resting position above the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 166, "tasks": ["arrange cloth"], "length": 787, "global_instruction": "Rearrange the objects on the kitchen table to adjust the position of the white cloth.", "scene_description": "A robotic arm is positioned over a wooden kitchen table, which holds a grey stuffed shark toy, a black fork on a white cloth, a stack of light blue plastic cups, a stack of multi-colored (yellow, orange, blue, green) plastic cups, a blue-and-orange bowl with a red ball, and folded fabric items, with kitchen cabinets, an oven, microwave, and stainless steel refrigerator in the background.", "global_instruction_dense": "The right robotic arm first grasps the grey stuffed shark toy, moves it rightward and places it on the table to clear space, then moves to the black fork on the white cloth, grasps and lifts the fork, moves to the edge of the white cloth to adjust the cloth while holding the fork, releases both the cloth and fork onto the table, and moves back to a resting position above the table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 167, "tasks": ["arrange cloth"], "length": 3107, "global_instruction": "Arrange the white, beige, and black cloths on the wooden kitchen table.", "scene_description": "A left robotic gripper is positioned beside a wooden kitchen table. On the table are a colorful stacked plastic cup, a yellow plastic cup, small bowls with toy blocks, a white cloth, a beige canvas bag, and a black cloth, with a stainless steel fridge, microwave, stove, and wooden cabinets in the background.", "global_instruction_dense": "The left robotic gripper repeatedly grasps, lifts, unfolds, and repositions the white cloth, beige canvas bag, and black cloth to arrange them on the wooden kitchen table.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 168, "tasks": ["arrange cloth"], "length": 737, "global_instruction": "Arrange the white and light beige cloths on the wooden kitchen table.", "scene_description": "A wooden kitchen table holds a black printed T-shirt, a flat white cloth, a red tray with colorful toy fruits, a yellow cup, and a dark blue package on its right end. A white robotic arm with gray joints is positioned to the left of the table, with wooden kitchen cabinets, a stainless steel refrigerator, microwave, and stove in the background.", "global_instruction_dense": "The right robotic arm first adjusts the black T-shirt on the table, then grasps the white cloth, lifts it, and drapes it over the T-shirt, then grasps the light beige cloth, lifts it, moves it, and places it on the table before returning to its initial position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 169, "tasks": ["arrange cloth"], "length": 756, "global_instruction": "Arrange the white cloth, black printed t-shirt, and white canvas bag neatly on the wooden kitchen counter.", "scene_description": "A wooden kitchen counter holds a small container of multicolored balls, a yellow cup, a flat white paper, a crumpled white cloth, a black printed t-shirt, and a white canvas tote bag on its far right, with a kitchen area (stainless steel fridge, microwave, stove, wooden upper cabinets, sink, and whiteboard) in the background, and a right robotic arm positioned at the left of the counter.", "global_instruction_dense": "The right robotic arm first moves to grasp the crumpled white cloth, lifts and folds it before placing it on the counter, then grasps and adjusts the position of the black printed t-shirt, then moves to grasp and reposition the white canvas tote bag, and finally returns to adjust the black t-shirt to complete arranging the items neatly on the counter.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 170, "tasks": ["arrange cloth"], "length": 676, "global_instruction": "Arrange the yellow cloth and green bowl on the gray countertop.", "scene_description": "A gray kitchen countertop holds a bright green bowl, yellow cloth, red tomato, small red-and-purple bowl, beige woven basket, open gray plastic container, white paper towel roll, and bright green cup, with a white left robotic arm positioned above the green bowl.", "global_instruction_dense": "The left robotic arm grasps the yellow cloth, moves and places it to the left of the green bowl, then adjusts the position of the green bowl, and finally adjusts the placement of the yellow cloth.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 171, "tasks": ["arrange cloth"], "length": 755, "global_instruction": "Rearrange the black and white checkered cloth on the wooden kitchen table.", "scene_description": "A light wooden kitchen table holds a black and white checkered cloth, purple hand soap bottle, silver electric kettle, small white bowl, two black phone stands, and assorted small items. Upper wooden cabinets, a stainless steel refrigerator, and microwave are in the background, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves down to the black and white checkered cloth on the table, grips and repositions the cloth across the table surface, and adjusts it to a new layout.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 172, "tasks": ["arrange cloth"], "length": 338, "global_instruction": "Arrange the positions of the metal fork and black cloth on the tabletop.", "scene_description": "A light brown wooden table holds a black fabric cloth, two silver metal forks, a white bowl, a blue plastic cup, a yellow plastic bowl, a black-and-white calibration mat, four markers (red, black, blue, white) and a silver laptop on the right edge. A white robotic arm is positioned on the left of the table, with office space including yellow storage racks in the background.", "global_instruction_dense": "The left robotic arm moves down from its raised starting position, pushes the metal fork to adjust its position, then pushes and adjusts the placement of the black cloth, before lifting back up to its original raised position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 173, "tasks": ["arrange cloth"], "length": 642, "global_instruction": "Adjust the positions of the yellow cloth and green bowl on the table.", "scene_description": "A light wooden table holds a green bowl, a folded yellow cloth, a yellow rectangular container, a purple pump hand sanitizer bottle, a brown woven bowl, a black latch-sealed jar, and a brown cardboard box from left to right, with a white robotic arm mounted to the left of the table.", "global_instruction_dense": "The left robotic arm first moves to grasp the yellow cloth, repositions it on the table, then grasps the green bowl to shift its position, then grasps the yellow cloth again to readjust its placement before returning to its resting position.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 174, "tasks": ["arrange cloth"], "length": 444, "global_instruction": "Rearrange the yellow knitted cloth on the tabletop", "scene_description": "A dark grey tabletop holds a yellow knitted cloth, green bowls, red measuring cups, small yellow and blue containers, brown bowls, and fake food items. A white robotic arm with black detailing is positioned at the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the yellow knitted cloth on the table, grasps it, lifts and shifts it to a new position, releases it, then regrasps it briefly before repeatedly pressing and adjusting the cloth on the table surface.", "skill": "Sort / Arrange / Store", "verb": "arrange", "object": "cloth", "object_category": "Deformable Fabrics & Apparel"}
diff --git a/datasets/droid/data/arrange__cloth/meta/episodes_stats.jsonl b/datasets/droid/data/arrange__cloth/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf968b913804000b7fed53d01796460a596686ce
--- /dev/null
+++ b/datasets/droid/data/arrange__cloth/meta/episodes_stats.jsonl
@@ -0,0 +1,175 @@
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diff --git a/datasets/droid/data/arrange__cloth/meta/info.json b/datasets/droid/data/arrange__cloth/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc02f103fc6de436bc94cf1315261ccae9b8bdcb
--- /dev/null
+++ b/datasets/droid/data/arrange__cloth/meta/info.json
@@ -0,0 +1,255 @@
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+}
\ No newline at end of file
diff --git a/datasets/droid/data/arrange__cloth/meta/stats.json b/datasets/droid/data/arrange__cloth/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6842d1cabf032f2c0d077f7583a562d526ddfaf
--- /dev/null
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