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+{"episode_index": 0, "tasks": ["unfold clothing"], "length": 599, "global_instruction": "Unfold the crumpled pink garment placed on the white round table.", "scene_description": "A white round table holds a crumpled pink garment at its center, a folded white cloth and small blue rectangular object to the garment's left, and a plate with two small red and orange containers plus a fork to the garment's right near a large window with a city view; a right robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm repeatedly grasps, lifts, and pulls different sections of the crumpled pink garment on the table, smoothing creases and laying the garment fully flat across the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 1, "tasks": ["unfold clothing"], "length": 463, "global_instruction": "Unfold the light pink printed t-shirt flat on the yellow table.", "scene_description": "A yellow table holds a light pink printed t-shirt, a light blue striped fabric bin containing pink and dark fabric, and a brown cardboard box at the far end of the table.", "global_instruction_dense": "The left robotic arm moves into the frame, lowers toward the light pink t-shirt on the yellow table, repeatedly grasps and pulls sections of the t-shirt to unfold and lay it flat on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 2, "tasks": ["unfold clothing"], "length": 595, "global_instruction": "Unfold the folded light pink t-shirt on the yellow table to reveal its full printed text.", "scene_description": "A yellow table holds a folded light pink t-shirt, a white striped storage box with pink and black fabric inside on the right side of the table, and a brown cardboard box behind the t-shirt. To the left of the table are tripods, a black equipment case, coiled cables, and a dark blue backdrop.", "global_instruction_dense": "The right robotic gripper moves toward the folded light pink t-shirt on the yellow table, grasps and lifts it to partially unfold it, places it back on the table, then pulls and adjusts multiple edges of the t-shirt to fully unfold it and display the complete printed text on its surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 3, "tasks": ["unfold clothing"], "length": 814, "global_instruction": "Place the dark blue shirt into the white basket and unfold the light pink shirt on the table.", "scene_description": "A yellow table holds a white rectangular plastic basket, a dark blue short-sleeved shirt, and a light pink short-sleeved shirt. The basket is on the left section of the table, the dark blue shirt sits to the right of the basket, and the light pink shirt is on the right section of the table, with a brown cardboard box behind the basket.", "global_instruction_dense": "The left robotic arm moves to grasp the dark blue shirt on the table, lifts it, places it into the white plastic basket, then moves to the light pink shirt, grasps its edges to unfold it, and adjusts the shirt to display its printed design on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 4, "tasks": ["unfold clothing"], "length": 913, "global_instruction": "Unfold the light pink t-shirt and spread it flat on the white rectangular box.", "scene_description": "A wooden table holds a stack of folded clothes (light pink, purple, dark blue) on the left, a white rectangular storage box in the center foreground, and an open brown cardboard box with miscellaneous items in the background. A white robotic arm is positioned above the left side of the table near the clothes stack.", "global_instruction_dense": "The left robotic arm grasps the light pink t-shirt from the folded clothes stack on the left, places it on the white rectangular box, then repeatedly pulls and adjusts the t-shirt's edges to fully unfold and flatten it on the box, exposing the printed text on its front.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 5, "tasks": ["unfold clothing"], "length": 615, "global_instruction": "Unfold the light pink t-shirt draped over the white cuboid box on the yellow table.", "scene_description": "A yellow work table holds a brown cardboard box at its rear, a white cuboid box at its center draped with a light pink printed t-shirt, and a stack of folded clothes to the left of the white box, with a robotic arm positioned at the upper left.", "global_instruction_dense": "The left robotic arm moves down to grasp the upper edge of the light pink t-shirt on the white box, lifts to remove the printed top layer, then repeatedly grasps and adjusts different sections of the t-shirt to fully unfold it over the white box.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 6, "tasks": ["unfold clothing"], "length": 488, "global_instruction": "Unfold the light pink t-shirt on the yellow table.", "scene_description": "A yellow long table holds a folded pink cloth, a light pink t-shirt, a folded white cloth, stacked white plates, a light blue bottle, and a small blue cloth. Orange chairs are to the table's left, and a glass window is behind the table.", "global_instruction_dense": "The left robotic arm approaches the light pink t-shirt on the table, grasps it to reposition it, pulls it to unfold and reveal its printed text, then releases it and moves upward.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 7, "tasks": ["unfold clothing"], "length": 91, "global_instruction": "Unfold the upright white face mask and lay it flat on the black table.", "scene_description": "An upright white face mask with green patterns is placed at the center of a black table, with office desks, chairs and items in the background.", "global_instruction_dense": "The right robotic arm moves toward the upright white face mask on the black table, grasps it, lifts it to adjust its position, then unfolds it and lays it flat on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 8, "tasks": ["unfold clothing"], "length": 293, "global_instruction": "Unfold the crumpled gray plaid shirt on the bed.", "scene_description": "A wooden bed is covered with a light blue bedspread, with a crumpled gray-and-white plaid shirt, a white garment, and a dark blue garment placed on the bed, and a white robotic arm is positioned at the right side of the bed.", "global_instruction_dense": "The right robotic arm moves from above the white garment on the bed toward the crumpled gray plaid shirt, grasps it, lifts and stretches one part of the shirt then releases it, then moves to grasp another part of the plaid shirt, lifts and stretches it before releasing it back onto the bed.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 9, "tasks": ["unfold clothing"], "length": 591, "global_instruction": "Unfold and flatten the dark gray shirt lying on the wooden table.", "scene_description": "A light tan wooden table holds a dark gray shirt, a blue marker with a white cap, multiple colored mugs, and a brown shipping box on the table's right edge. A white robotic arm is mounted to the left of the table, with a shoe rack, closed door, and stacked boxes in the background.", "global_instruction_dense": "The left robotic arm extends from its mounted position left of the table toward the dark gray shirt, repeatedly gripping and adjusting different sections of the fabric to spread and flatten the shirt across the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 10, "tasks": ["unfold clothing"], "length": 414, "global_instruction": "Unfold the dark blue and white striped knit sweater on the tabletop", "scene_description": "A white table holds a dark blue and white striped knit sweater, other dark blue, gray and beige clothes, a white liquid bottle, a yellow container, and a pink-beige patterned bag leaning against the gray wall, with two white robotic arms above the left side of the table.", "global_instruction_dense": "The right robotic gripper grasps the dark blue and white striped knit sweater on the table, lifts, pulls and adjusts it repeatedly to unfold the garment on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 11, "tasks": ["unfold clothing"], "length": 547, "global_instruction": "Unfold the pink t-shirt laid on the white table", "scene_description": "A white table against a wall with electrical outlets holds a pink t-shirt, a wooden coat rack with a round yellow base, a roll of gray tape, a roll of beige tape, a small orange cup, colorful toy produce, and black game controllers, with two robotic arms near the table.", "global_instruction_dense": "The right robotic gripper approaches the pink t-shirt on the table, repeatedly grasps sections of the t-shirt fabric, pulls and adjusts the fabric to spread and unfold the t-shirt, then moves away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 12, "tasks": ["unfold clothing"], "length": 547, "global_instruction": "Unfold the pink printed t-shirt on the white table.", "scene_description": "A white table against a white wall with electrical outlets and switch boxes holds a light brown wooden mug tree, a roll of gray tape, a pink printed t-shirt, an orange cup, black game controllers, small colorful toys, and a fixed white robotic arm at the far right edge of the table.", "global_instruction_dense": "The right robotic gripper moves toward the pink t-shirt on the table, repeatedly grasps different sections of the t-shirt, pulls and adjusts the fabric to unfold and spread the t-shirt across the table surface, then moves away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 13, "tasks": ["unfold clothing"], "length": 474, "global_instruction": "Unfold the folded pink t-shirt placed on the white table.", "scene_description": "A white table holds a small wooden coat hanger stand, two rolls of tape (one gray, one pale yellow), a folded pink t-shirt, assorted small toys, black cables, and an orange cup. Electrical fixtures are mounted on the adjacent white wall, with a robotic arm base at the right edge of the table.", "global_instruction_dense": "The right robotic gripper moves toward the folded pink t-shirt on the table, repeatedly grasps sections of the t-shirt to pull, adjust, and spread the t-shirt flat on the table surface, then moves away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 14, "tasks": ["unfold clothing"], "length": 425, "global_instruction": "Unfold the folded pink t-shirt on the white table.", "scene_description": "A white table against a white wall with electrical outlets holds a light brown wooden mug tree, two rolls of tape (gray and off-white), a folded pink t-shirt, colorful soft toys, black game controllers, a small orange cup, and a fixed white robotic arm at the back of the table.", "global_instruction_dense": "The right robotic arm enters the frame, approaches the folded pink t-shirt, grasps its edges, adjusts and pulls the fabric multiple times to spread the t-shirt flat on the table, then releases it and moves away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 15, "tasks": ["unfold clothing"], "length": 307, "global_instruction": "Unfold the crumpled pink t-shirt on the white tabletop.", "scene_description": "A white tabletop holds a small light brown wooden coat rack, a roll of gray tape, a roll of light yellow tape, a crumpled pink t-shirt, black electronic cables, small orange cups, colorful soft toys, and a white robotic arm mounted on the right edge of the table. White electrical outlet fixtures are mounted on the white wall to the left of the table.", "global_instruction_dense": "The right robotic arm enters the scene from the right side, positions its gripper above the crumpled pink t-shirt, lowers to grasp a section of the t-shirt, lifts and repositions the grasped section to spread the t-shirt fabric, then places the adjusted section back down on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 16, "tasks": ["unfold clothing"], "length": 654, "global_instruction": "Unfold the red t-shirt laid on the white table.", "scene_description": "A white table against a white wall holds a red t-shirt, wooden mug stand, gray tape, small assorted items, and a robotic arm at the table's right edge.", "global_instruction_dense": "The right robotic arm moves toward the red t-shirt, repeatedly grasps and pulls sections of the t-shirt fabric, and adjusts the fabric to fully unfold the t-shirt flat on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 17, "tasks": ["unfold clothing"], "length": 385, "global_instruction": "Unfold the crumpled red t-shirt on the white tabletop.", "scene_description": "A white table holds a crumpled red t-shirt, a wooden mug tree stand, two rolls of tape (one grey, one clear), black headsets, tangled cables, small colorful toy items, and a blue-and-white dispenser against the left wall with electrical sockets and wiring. A robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the crumpled red t-shirt on the table, grasps different sections of the t-shirt sequentially, pulls each section to spread and flatten the fabric, and releases the t-shirt after partially unfolding it on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 18, "tasks": ["unfold clothing"], "length": 515, "global_instruction": "Unfold the folded pink t-shirt placed on the grey table", "scene_description": "A grey table holds a white bowl with purple, yellow, and green balls on the left, a blue chair next to the table's left side, a beige tray with small metal items at the table center, a clear plastic cup, a small blue-and-white box, and a folded pink t-shirt on the lower table area, with storage shelves and equipment in the background.", "global_instruction_dense": "The right robotic arm enters from the top right of the scene, moves to the folded pink t-shirt on the grey table, sequentially grasps different sections of the t-shirt, pulls and adjusts the fabric to unfold it, then moves away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 19, "tasks": ["unfold clothing"], "length": 448, "global_instruction": "Unfold the crumpled pink t-shirt on the gray tabletop.", "scene_description": "A gray table holds a beige tray with dark utensils, a white bowl containing purple, green, and yellow balls, and a crumpled pink t-shirt. Two blue chairs are behind the table, storage cabinets are in the background, and a robotic arm is positioned above the tray.", "global_instruction_dense": "The right robotic gripper moves from above the beige utensil tray to the crumpled pink t-shirt on the gray table, repeatedly grasps, lifts, and repositions sections of the t-shirt fabric to unfold the garment, then releases the fabric and hovers above the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 20, "tasks": ["unfold clothing"], "length": 460, "global_instruction": "Unfold the folded pink t-shirt placed on the grey table.", "scene_description": "A grey table holds a white bowl with purple, yellow, green balls on the left, a folded pink t-shirt in the center, a beige utensil tray, small blue box, and clear plastic cup on the right. Two blue chairs sit by the table, a robotic arm is in the upper right, and storage cabinets are in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the edge of the folded pink t-shirt, pulls the edge to partially unfold the t-shirt, adjusts its grip to pull another section of the t-shirt to unfold it further, then releases the t-shirt and moves back upward.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 21, "tasks": ["unfold clothing"], "length": 628, "global_instruction": "Unfold the crumpled pink t-shirt placed on the gray table.", "scene_description": "A gray table holds a crumpled pink t-shirt, a white bowl with purple, green, and yellow balls left of the t-shirt, a beige utensil tray right of the t-shirt, a small blue box, a white paper, and a clear plastic cup. Two blue chairs are beside the table, and a robotic arm is above the table's right side near the cup.", "global_instruction_dense": "The right robotic arm moves from above the table's right side toward the crumpled pink t-shirt, sequentially grasps multiple edges of the t-shirt, pulls and stretches the fabric to unfold it, spreads the t-shirt flat on the table, places one sleeve into the nearby beige tray, then moves upward away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 22, "tasks": ["unfold clothing"], "length": 441, "global_instruction": "Unfold the folded blue printed t-shirt on the gray table.", "scene_description": "A gray table holds a white bowl with pink, green, yellow balls (left), a folded blue printed t-shirt, a beige utensil tray to the t-shirt's right, a clear plastic cup, small blue box, and white paper slip. Two blue chairs are at the table's left edge, a robotic arm is at the table's right side.", "global_instruction_dense": "The right robotic gripper moves from the beige utensil tray to the folded blue t-shirt, grasps one edge to lift and partially unfold the t-shirt, places it back down, grasps a second edge to pull and fully unfold the upper section of the t-shirt to reveal its white print, then releases the t-shirt and moves away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 23, "tasks": ["unfold clothing"], "length": 574, "global_instruction": "Unfold the crumpled blue T-shirt placed on the gray table.", "scene_description": "A gray work table holds a white bowl with three colorful balls, a crumpled blue T-shirt, a beige utensil tray, a small blue box, a white paper slip, and a clear plastic cup. Two blue office chairs are positioned to the left of the table, with lab storage shelves and equipment in the background, and a robotic arm is in the far right background.", "global_instruction_dense": "The right robotic arm moves toward the crumpled blue T-shirt on the gray table, repeatedly grasps different sections of the T-shirt, lifts and adjusts the fabric to unfold it, then moves back to its starting position.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 24, "tasks": ["unfold clothing"], "length": 437, "global_instruction": "Unfold the folded blue t-shirt on the grey table.", "scene_description": "A grey table holds a folded blue t-shirt, a beige utensil tray, a clear plastic cup, a small blue box, and a white sheet of paper. Two blue chairs sit adjacent to the table, with white storage cabinets, a cluttered workbench, and a red fire extinguisher visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the folded blue t-shirt on the grey table, grasps edges of the t-shirt in sequence, pulls the edges to fully unfold the t-shirt flat on the table surface, then retracts away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 25, "tasks": ["unfold clothing"], "length": 740, "global_instruction": "Unfold the folded blue t-shirt placed on the gray table", "scene_description": "A gray table holds a folded blue t-shirt, a beige tray with utensils, a clear plastic cup, a white slip of paper, and a small blue box. Two blue chairs sit to the left of the table, gray cabinets are on the far left, and lab workstations are in the background.", "global_instruction_dense": "The right robotic arm moves down to the folded blue t-shirt on the gray table, grasps sections of its fabric repeatedly, pulls and spreads the fabric to fully unfold the t-shirt flat on the table, then moves away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 26, "tasks": ["unfold clothing"], "length": 582, "global_instruction": "Unfold the folded blue t-shirt flat on the gray table", "scene_description": "A gray table holds a folded blue t-shirt, a beige tray with utensils, a clear plastic cup, a small blue box, and a white slip of paper. Two blue chairs are positioned next to the table, with storage cabinets in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves to the folded blue t-shirt on the gray table, grasps and adjusts multiple sections of the t-shirt, pulls and spreads the fabric to fully unfold it flat on the table, then moves away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 27, "tasks": ["unfold clothing"], "length": 409, "global_instruction": "Unfold the folded dark blue t-shirt laid on the grey table.", "scene_description": "A grey table holds a folded dark blue t-shirt with white print, a beige utensil tray to the t-shirt's right, and a white bowl on the table's far left. Two blue chairs sit next to the table, a robotic arm is positioned above the table's right side, with lab shelves and equipment in the background.", "global_instruction_dense": "The right robotic arm moves down toward the folded dark blue t-shirt, sequentially grasps and pulls its edges outward to fully unfold the t-shirt and reveal its white printed text, then lifts away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 28, "tasks": ["unfold clothing"], "length": 533, "global_instruction": "Unfold the dark blue printed t-shirt on the grey table.", "scene_description": "A grey table holds a folded dark blue printed t-shirt, a beige utensil tray, a clear plastic cup, a small blue rectangular object, a white sheet of paper, and a white bowl with saucer on the left. Two blue chairs sit next to the table, with storage cabinets and lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves down toward the folded dark blue t-shirt, grasps its edge and pulls outward to unfold one section, adjusts its grip to pull another section to further unfold the t-shirt, then lifts and moves away from the partially unfolded t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 29, "tasks": ["unfold clothing"], "length": 385, "global_instruction": "Unfold the blue T-shirt laid on the gray table.", "scene_description": "A gray table holds a blue T-shirt with white print, a beige utensil tray, a clear plastic cup, a small blue box, and a white sheet of paper. Two blue chairs are to the left of the table, and white storage cabinets stand behind the table.", "global_instruction_dense": "The right robotic gripper moves into position above the gray table, grasps a section of the blue T-shirt, pulls the fabric to unfold the T-shirt revealing additional printed text, then releases the fabric and rests above the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 30, "tasks": ["unfold clothing"], "length": 192, "global_instruction": "Unfold the blue printed t-shirt placed on the gray table.", "scene_description": "A gray table holds a folded blue t-shirt with white prints, a beige tray with black utensils, a small blue box, a white sheet of paper, and a clear plastic cup with leftover yellow liquid. Two blue chairs are positioned next to the table, with cabinets, shelves, and a workbench in the background.", "global_instruction_dense": "The right robotic gripper moves toward the folded blue t-shirt on the gray table, grasps a section of the t-shirt, pulls it to unfold the fabric to reveal the printed pattern, then releases the t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 31, "tasks": ["unfold clothing"], "length": 337, "global_instruction": "Unfold the folded dark blue t-shirt on the gray tabletop.", "scene_description": "A gray table holds a folded dark blue printed t-shirt, a beige utensil tray with black cutlery, a clear plastic cup with yellowish liquid, a small blue box, and a white sheet of paper. Two blue chairs are positioned beside the table, with white storage cabinets and workbenches in the background.", "global_instruction_dense": "The right robotic arm moves toward the folded dark blue t-shirt on the gray table, grasps the t-shirt fabric, pulls and manipulates the fabric to unfold the t-shirt, then adjusts the t-shirt to lay it flat on the table with its white print facing upward.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 32, "tasks": ["unfold clothing"], "length": 458, "global_instruction": "Unfold the folded blue t-shirt placed on the grey table.", "scene_description": "A grey table holds a folded blue t-shirt with white text, a beige plastic tray with utensils, a clear plastic cup, a small blue rectangular box, and a white slip of paper. Two blue office chairs are positioned to the left of the table, a tall grey storage cabinet stands in the background left, and a robotic arm is positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the folded blue t-shirt on the grey table, grips its edge, pulls upward and outward to unfold the fabric, adjusts its grip to pull other edges, smooths the t-shirt, and lays it flat on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 33, "tasks": ["unfold clothing"], "length": 591, "global_instruction": "Unfold the folded blue t-shirt placed on the light gray table.", "scene_description": "A light gray table holds a folded blue t-shirt, a beige tray with utensils, and a clear plastic cup with yellow liquid. Two blue chairs are beside the table, a robotic arm is positioned above the table, with storage cabinets and workbenches in the background.", "global_instruction_dense": "The right robotic arm moves toward the folded blue t-shirt on the table, repeatedly grasps different sections of the fabric, pulls the fabric outward in multiple directions to spread it, and stops when the t-shirt is fully unfolded with its printed text visible.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 34, "tasks": ["unfold clothing"], "length": 484, "global_instruction": "Unfold the crumpled pink shirt lying on the white table", "scene_description": "A white table holds a light blue small appliance at its center, a dish with a red toy apple to the appliance's left, a crumpled pink shirt to the appliance's right, small blue and black toy pots behind the shirt, a black grill tray to the shirt's right, and a toy hamburger at the table's far right.", "global_instruction_dense": "The right robotic gripper approaches the crumpled pink shirt on the table, sequentially grasps and pulls different sections of the shirt to spread it out, extending its sleeves and partially flattening it before moving away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 35, "tasks": ["unfold clothing"], "length": 544, "global_instruction": "Fully unfold the folded pink t-shirt on the white tabletop.", "scene_description": "A white table holds a light blue mini appliance at center left, a small white dish with a red toy tomato at far left, a black power cord next to the blue appliance, a blue kettle, two blue pots, a black pot behind the appliance, a folded pink t-shirt at center right, a black grill tray next to the t-shirt, and a toy burger on a blue plate at far right.", "global_instruction_dense": "The right robotic gripper moves toward the folded pink t-shirt on the white table, grasps and pulls multiple sections of the t-shirt to spread the fabric, briefly adjusts a blue pot behind the t-shirt, then returns to pull the remaining edge to fully unfold the t-shirt flat on the table before moving away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 36, "tasks": ["unfold clothing"], "length": 439, "global_instruction": "Unfold the folded pink t-shirt placed on the white tabletop.", "scene_description": "A white table holds a small dish with a red toy tomato on the far left, next to a black power cord, a light blue toy appliance in center-left, behind the appliance are a small blue teapot, two blue pots, a black pot, a folded pink printed t-shirt is on center-right, and a toy hamburger on a small blue plate on the far right.", "global_instruction_dense": "The right robotic gripper first grasps the upper edge of the folded pink t-shirt, pulls it right to extend the upper sleeve, then grasps and pulls the lower right edge left, then grasps and pulls the left edge left to partially unfold the t-shirt, before lifting away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 37, "tasks": ["unfold clothing"], "length": 149, "global_instruction": "Unfold the folded blue garment on the white table", "scene_description": "A white table holds multiple items: a brown cardboard package on the far left, a teal measuring cup, two black pot lids, a black mug, a small red squeeze bottle, a green cup, colorful fake produce, a dark blue fuzzy cloth, a light green bowl containing an orange and a fake watermelon slice, a teal flat circular disk, and a folded blue garment with red and white trim near the bottom center. A robotic arm is positioned at the upper right of the table, with gray curtains, a black chair, and office equipment in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the folded blue garment on the table, lowers its gripper to grasp the garment's edge, pulls the edge to spread the garment open, then releases the garment and lifts slightly away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 38, "tasks": ["unfold clothing"], "length": 1273, "global_instruction": "Unfold the blue denim jacket with fleece lining draped over the chair onto the white round table.", "scene_description": "A white round table is in the foreground, a black office chair behind the table has a blue denim jacket with light beige fleece lining draped over its back, a white robotic arm is positioned at the right, and office workstations with monitors and equipment are in the background.", "global_instruction_dense": "The right robotic arm moves toward the denim jacket on the office chair back, grasps its light beige fleece lining, lifts and places the fleece section onto the adjacent white round table, then grasps the blue denim portion of the jacket, pulls and adjusts it to unfold the jacket onto the table, before releasing the jacket and moving away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 39, "tasks": ["unfold clothing"], "length": 226, "global_instruction": "Unfold the black garment with white collar on the white round table.", "scene_description": "A black garment with a folded white collar lies on a white round table, a robotic arm is positioned above the left side of the table, and a yellow emergency stop button sits on the foreground workbench.", "global_instruction_dense": "The left robotic arm moves toward the black garment on the white table, grasps it, lifts it upward to unfold its attached white collar, then lowers the adjusted garment back onto the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 40, "tasks": ["unfold clothing"], "length": 257, "global_instruction": "Unfold the folded light gray shirt on the bed", "scene_description": "A bed with a blue, yellow, and white plaid bedspread holds a white pillow, a folded light gray shirt, a black remote control, two white clothes hangers, and a gray rectangular object. A white robotic arm is positioned on the right above the bed.", "global_instruction_dense": "The right robotic arm moves toward the folded light gray shirt on the bed, grasps the top layer of the shirt, lifts and pulls the layer to unfold the shirt, then releases the separated fabric onto the bed.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 41, "tasks": ["unfold clothing"], "length": 352, "global_instruction": "Unfold the folded light gray shirt placed on the bed.", "scene_description": "A bedroom features a bed with a blue, yellow, and white plaid bedspread. On the bed, there is a white pillow, a folded light gray shirt, two white clothes hangers, and a dark gray rectangular object. A robotic arm is positioned above the right side of the bed.", "global_instruction_dense": "The right robotic arm moves from its starting position above the right bed edge toward the folded light gray shirt, adjusts its gripper to grasp the shirt edge, pulls the edge to flatten and unfold the shirt, then releases the shirt and lifts away from the bed.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 42, "tasks": ["unfold clothing"], "length": 453, "global_instruction": "Unfold the folded light gray shirt placed on the bed.", "scene_description": "A bed with yellow, gray, and white checkered bedding sits in a bedroom. A white pillow is at the head of the bed, with a light gray square cushion, gray shorts, white drawstring clothing, and a folded light gray shirt on the bedding. A Franka robotic arm is positioned above the right side of the bed near the shirt, with a dark dresser by the window and a small laundry basket in the background.", "global_instruction_dense": "The right robotic arm moves toward the folded light gray shirt on the bed, repeatedly grasps, lifts, and pulls different sections of the shirt to unfold it and spread it flat on the checkered bedding.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 43, "tasks": ["unfold clothing"], "length": 270, "global_instruction": "Unfold the crumpled light gray shirt placed on the bed", "scene_description": "A bed with a yellow, dark gray and white plaid bedspread holds a white pillow, a folded gray cloth, a crumpled light gray shirt, and a small rectangular box. A white robotic arm is positioned at the right edge above the bed, with a dark dresser, window, and laundry bin visible in the dark gray walled bedroom background.", "global_instruction_dense": "The right robotic arm moves toward the crumpled light gray shirt on the bed, grasps a section of the shirt, lifts and pulls the section repeatedly to unfold and spread the shirt across the bed surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 44, "tasks": ["unfold clothing"], "length": 406, "global_instruction": "Adjust and partially unfold sections of the blue-and-white striped garment on the bed.", "scene_description": "A blue-beige plaid bed holds a long blue foam pad, a light blue tissue box, and a crumpled blue-and-white striped garment. A white laundry basket is left of the bed, and a wooden nightstand with a lamp and white phone is right of the bed.", "global_instruction_dense": "The right robotic arm enters from the top of the frame, moves toward the crumpled striped garment on the bed, sequentially grasps, lifts and repositions multiple sections of the garment to partially unfold it, and releases each section after adjustment.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 45, "tasks": ["unfold clothing"], "length": 372, "global_instruction": "Unfold the yellow knitted glove flat on the dark gray tabletop.", "scene_description": "A dark gray tabletop holds a folded yellow knitted glove, a green bowl, a small light brown wooden bowl, yellow and blue small plastic containers, pink and orange fruit-shaped objects, and small red and green bowls; a robotic arm is positioned above the table near the green bowl initially.", "global_instruction_dense": "The right robotic arm moves from its initial position above the green bowl toward the folded yellow knitted glove, grasps the glove, and repeatedly manipulates it to unfold and spread it flat on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 46, "tasks": ["unfold clothing"], "length": 3211, "global_instruction": "Unfold the dark blue jacket placed on the light wooden table", "scene_description": "A folded dark blue jacket lies on a light wooden table, with cups, containers, and an orange decorative item to the left of the jacket, and a white snack bag, orange plate, and small white bowl with dark contents to the right. The background is a kitchen with wooden upper cabinets, a stainless steel refrigerator, microwave, and stove.", "global_instruction_dense": "The right robotic gripper repeatedly grasps, pulls, and adjusts different sections of the dark blue folded jacket on the light wooden table, gradually spreading it out to fully expose its grey inner lining flat on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 47, "tasks": ["unfold clothing"], "length": 2829, "global_instruction": "Unfold the grey and navy jacket placed on the wooden table.", "scene_description": "A grey and navy jacket is laid out on a wooden table, alongside an orange decorative pumpkin, white cups, a container of oats, a small bowl with dark contents, and stationery. A right robotic gripper is positioned above the jacket, with kitchen cabinets, a fridge, and a microwave visible in the background.", "global_instruction_dense": "The right robotic gripper repeatedly grasps different sections of the grey and navy jacket on the wooden table, lifts and repositions the fabric to fully unfold the jacket across the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 48, "tasks": ["unfold clothing"], "length": 1740, "global_instruction": "Unfold the dark blue jacket placed on the wooden table.", "scene_description": "A dark blue jacket lies on a light wooden table in a kitchen area. Around the jacket are a block-filled plastic bin, an orange decorative pumpkin, white cups, a bag of oats, a small bowl, and stationery items, with brown upper cabinets, a stainless steel fridge, and a microwave in the background.", "global_instruction_dense": "The right robotic arm repeatedly grasps, lifts, and pulls different sections of the dark blue jacket on the table, unfolding both its outer navy fabric and inner grey lining to spread the jacket fully open across the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 49, "tasks": ["unfold clothing"], "length": 1422, "global_instruction": "Unfold the black T-shirt laid on the wooden kitchen table.", "scene_description": "A kitchen with wooden cabinets, a stove, and a microwave in the background. A light wooden table holds a black printed T-shirt, a silver soda can, a plate of food, and an aluminum foil tray, with a white robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm grasps multiple sections of the black T-shirt on the wooden kitchen table, pulls and adjusts each section to flatten the fabric, and smooths the T-shirt to fully unfold it on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 50, "tasks": ["unfold clothing"], "length": 860, "global_instruction": "Unfold the folded black t-shirt on the wooden table to lay it flat with its front graphic exposed.", "scene_description": "A white robotic arm with gray accents sits left of a light wooden table in a kitchen area. A folded black t-shirt rests on the main table, with a smaller adjacent table holding food containers and a soda can, and a plastic bag on the main table's right. The background features wooden cabinets, a microwave, and a stove.", "global_instruction_dense": "The right robotic arm manipulates the folded black t-shirt on the wooden table: it first lifts the top edge to open the neck, pulls the upper layer to reveal the front graphic, pulls each sleeve outward to spread the shirt, and adjusts the fabric to lay the t-shirt fully flat with the graphic facing up.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 51, "tasks": ["unfold clothing"], "length": 2052, "global_instruction": "Unfold the folded black t-shirt on the wooden table to reveal its printed design.", "scene_description": "A light wooden table in a kitchen lab space holds a folded black t-shirt on its right half, a stack of light blue cups on the far right, a tall colorful stacked cup with a yellow top and a small red-blue bowl with a red object inside to the left of the t-shirt, and food containers on the far left of the table. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper grasps multiple edges of the folded black t-shirt, pulls and adjusts different sections of the fabric, and spreads it fully flat on the table to display its printed pattern.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 52, "tasks": ["unfold clothing"], "length": 3093, "global_instruction": "Unfold the black camouflage jacket to lay fully flat on the wooden kitchen table.", "scene_description": "A black camouflage jacket is laid partially flat on a light wooden kitchen table, with stacked colorful plastic cups on the table's right side, food containers on the table's left side, and wooden cabinets, a stainless steel refrigerator, stove, and microwave in the background.", "global_instruction_dense": "The right robotic gripper sequentially grasps different sections of the black camouflage jacket on the table, lifting, pulling, and repositioning each section to spread and unfold the jacket completely flat across the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 53, "tasks": ["unfold clothing"], "length": 1195, "global_instruction": "Unfold the folded black printed T-shirt on the wooden table to lay it flat with its print facing upward.", "scene_description": "A light wooden table holds a folded black printed T-shirt, with a white robotic manipulator positioned to the left of the table. The background is a kitchen area with wooden upper cabinets, a stainless steel refrigerator, a microwave, and a stove.", "global_instruction_dense": "The right robotic arm moves toward the folded black T-shirt on the wooden table, grasps its edge to partially unfold the garment, repositions to grasp different sections repeatedly, pulls and adjusts the T-shirt to fully spread it flat on the table with its printed design facing upward.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 54, "tasks": ["unfold clothing"], "length": 2017, "global_instruction": "Unfold the folded black t-shirt on the wooden table to reveal its printed design.", "scene_description": "A white robotic arm is positioned on the left of a light wooden table. On the table, a folded black t-shirt sits near the center, with a gray cat-shaped knit cloth and yellow notebooks to its right, and an aluminum foil-covered tray to its left. The background is an office kitchen area with wooden upper cabinets, a stainless steel stove, microwave, and refrigerator.", "global_instruction_dense": "The right robotic gripper moves toward the folded black t-shirt on the table, grasps a corner of the t-shirt, pulls it to partially open the folded fabric, repositions to grasp another edge of the t-shirt, pulls to fully unfold the t-shirt and expose its front printed graphic, adjusts the fabric to flatten it on the table, then releases the t-shirt and moves away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 55, "tasks": ["unfold clothing"], "length": 1999, "global_instruction": "Unfold the crumpled plaid shirt spread across the kitchen table.", "scene_description": "A crumpled dark blue and green plaid shirt rests on a light wooden table in a kitchen space. A white robotic arm is positioned above the shirt, with aluminum foil trays on the left side of the table, and a gray cat plush, yellow notebook, and stacked multicolored cups on the right side. The background features wooden upper cabinets, a stainless steel refrigerator, microwave, and stove.", "global_instruction_dense": "The right robotic arm repeatedly grasps different sections of the crumpled plaid shirt, lifts each grasped portion, pulls it outward to stretch and unfold the fabric, releases the portion back onto the table, and repositions to grasp another section until the shirt is spread flatter across the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 56, "tasks": ["unfold clothing"], "length": 4042, "global_instruction": "Unfold the folded black printed t-shirt on the wooden kitchen table.", "scene_description": "A light wooden kitchen table holds a folded light grey knit sock, a folded black printed t-shirt, a folded dark blue-green plaid shirt, a yellow notebook, multicolored bowls, and an aluminum foil tray on the left edge. A white robotic arm is positioned left of the table, with a kitchen (wooden cabinets, stainless steel fridge, microwave, stove) in the background.", "global_instruction_dense": "The right robotic arm first moves the folded grey sock to the right table edge, then grasps, lifts, and unfolds the black t-shirt, lays it flat on the table, adjusts its position, briefly adjusts the plaid shirt, then moves away from the clothes.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 57, "tasks": ["unfold clothing"], "length": 2492, "global_instruction": "Unfold the folded black T-shirt fully on the wooden table.", "scene_description": "A light wooden table in a kitchen-style lab holds a folded black T-shirt atop purple and gray clothes, a silver aluminum tray behind the clothes, and a white robotic arm with a blue gripper to the left of the clothes, with kitchen appliances in the background.", "global_instruction_dense": "The left robotic arm with a blue gripper repeatedly grasps, lifts, and adjusts different sections of the folded black T-shirt to flatten and fully unfold it on the wooden table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 58, "tasks": ["unfold clothing"], "length": 2868, "global_instruction": "Unfold the crumpled purple T-shirt and lay it flat on the black T-shirt on the table.", "scene_description": "A white right robotic arm is positioned left of a wooden kitchen table holding a crumpled purple T-shirt, a black T-shirt with a gray rabbit plush, and a yellow notebook, with kitchen cabinets, a fridge, microwave, and oven in the background.", "global_instruction_dense": "The right robotic arm moves to the crumpled purple T-shirt on the table, grasps and lifts it, partially unfurls it, lays it on the black T-shirt, then repeatedly pulls and adjusts its edges to fully flatten the purple T-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 59, "tasks": ["unfold clothing"], "length": 2491, "global_instruction": "Unfold and reposition the black printed t-shirt on the wooden kitchen table.", "scene_description": "A black printed t-shirt, purple folded cloth, yellow notebook, and two aluminum food trays rest on a light wooden table, with a kitchen area (wooden upper cabinets, stainless steel refrigerator, microwave, stove) in the background, and a white robotic arm with blue gripper positioned above the t-shirt.", "global_instruction_dense": "The left robotic arm with a blue gripper descends to grasp sections of the black printed t-shirt on the wooden table, lifts portions of the shirt to reveal its inner patterned fabric, adjusts and repositions the garment multiple times to unfold sections of it, then moves slightly upward away from the table after completing the adjustment.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 60, "tasks": ["unfold clothing"], "length": 2574, "global_instruction": "Flip the black t-shirt to expose its reverse printed design, then reposition the gray plush toy on the table.", "scene_description": "A wooden kitchen table holds a black t-shirt with a colorful front graphic, a small purple cloth, a silver foil tray, yellow notebooks, and a gray plush toy; a white robotic arm with a blue end effector is positioned above the t-shirt, with wooden cabinets, a stainless steel refrigerator, microwave, and stove in the background.", "global_instruction_dense": "The left robotic arm uses its blue end effector to grasp the black t-shirt, flip it over to reveal the white printed text on its back, adjust the t-shirt's position on the wooden table, then grasp the gray plush toy, lift it, and move it to a new position on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 61, "tasks": ["unfold clothing"], "length": 5031, "global_instruction": "Move the purple t-shirt aside and unfold the black t-shirt on the table.", "scene_description": "A wooden table in a kitchen space has a purple t-shirt placed on top of a black t-shirt; a white robotic arm with a blue gripper is positioned above the purple t-shirt, with wooden upper cabinets, a stainless steel refrigerator, microwave, and stove visible in the background.", "global_instruction_dense": "The right robotic arm with a blue gripper first grasps the purple t-shirt resting on the black t-shirt, moves it to the left edge of the wooden table, then repeatedly adjusts, flips, and unfolds sections of the black t-shirt to reveal its white printed design and lay it flat on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 62, "tasks": ["unfold clothing"], "length": 2194, "global_instruction": "Unfold the black printed t-shirt to lie flat on the wooden kitchen table.", "scene_description": "A wooden kitchen table holds a folded purple cloth on its left side, a partially folded black printed t-shirt in its center, and stacked books and papers on its right side. A white robotic arm with a blue gripper is positioned to the left of the table, with wooden upper cabinets, a stainless steel refrigerator, a microwave, and a stove visible in the kitchen background.", "global_instruction_dense": "The right robotic arm with a blue gripper repeatedly grasps, tugs, and adjusts different edges of the black printed t-shirt on the wooden kitchen table to spread the t-shirt fully flat across the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 63, "tasks": ["unfold clothing"], "length": 2372, "global_instruction": "Unfold the folded purple shirt resting on the black t-shirt on the wooden table.", "scene_description": "A white and grey robotic arm is positioned to the left of a wooden table. On the table, a folded purple shirt lies on top of a black printed t-shirt, with aluminum foil trays to the left of the shirts, and a kitchen area with wooden cabinets, a stainless steel refrigerator, microwave, and stove in the background.", "global_instruction_dense": "The right robotic arm stays stationary above the table initially, then moves toward the folded purple shirt, grasps and lifts it to unfold the fabric, places the partially unfolded shirt back onto the black t-shirt, and adjusts the shirt repeatedly to spread it flat.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 64, "tasks": ["unfold clothing"], "length": 1895, "global_instruction": "Unfold the purple t-shirt to lay it flat on the wooden table.", "scene_description": "A wooden table in a shared kitchen and office space holds a purple t-shirt, a red garment, and a dark plaid garment on its surface. A white robotic arm with a blue gripper is positioned above the purple t-shirt, with wooden cabinets, a stainless steel fridge, microwave, stove, and distant office area in the background.", "global_instruction_dense": "The right robotic arm with a blue gripper repeatedly grasps, lifts, and pulls different sections of the purple t-shirt, adjusting its position over time to unfold and lay the entire garment flat on the wooden table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 65, "tasks": ["unfold clothing"], "length": 2718, "global_instruction": "Unfold the crumpled red t-shirt on the wooden table so it lies flat.", "scene_description": "A white robotic arm is positioned above a wooden kitchen table, where a crumpled pile of clothes (red t-shirt on top, purple and dark garments underneath) sits. The background features a kitchen area with wooden upper cabinets, a stainless steel refrigerator, microwave, and stove.", "global_instruction_dense": "The right robotic arm moves toward the crumpled red t-shirt on the wooden table, repeatedly grasps, lifts, pulls, and places sections of the t-shirt fabric, adjusting the sleeves and edges until the t-shirt is fully spread out flat on the table surface before moving away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 66, "tasks": ["unfold clothing"], "length": 4799, "global_instruction": "Unfold the purple shirt and lay it flat on the red t-shirt on the wooden table.", "scene_description": "A single white robotic arm is positioned on the left side of a light wooden table. A red t-shirt with a white hand-and-gear logo is laid flat on the right side of the table. To the left of the red shirt, a pile of clothes including a purple shirt, dark plaid shirt, and gray clothing rests. The background is a kitchen with wooden upper cabinets, a stainless steel refrigerator, a microwave, and a stove.", "global_instruction_dense": "The robotic arm moves toward the clothing pile on the left of the table, grasps the purple shirt, lifts and places it onto the red t-shirt, then repeatedly adjusts, pulls, and smooths the purple shirt to lay it flat and evenly over the red t-shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 67, "tasks": ["unfold clothing"], "length": 2323, "global_instruction": "Unfold the folded plaid flannel shirt and spread it across the wooden table.", "scene_description": "In a kitchen area, a wooden table holds a folded gray shirt, a folded dark green plaid flannel shirt, a purple printed t-shirt, and folded black clothing. A white robotic arm with a blue gripper is positioned above the plaid shirt, with wooden cabinets, a stainless steel refrigerator, microwave, stove, and sink in the background.", "global_instruction_dense": "The left robotic arm adjusts its position above the folded plaid flannel shirt, grasps it with the blue gripper, lifts and repositions the shirt to loosen the folded fabric, lowers it onto the table, then spreads and adjusts the fabric to fully unfold the shirt on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 68, "tasks": ["unfold clothing"], "length": 1726, "global_instruction": "Unfold the gray hoodie spread on the wooden kitchen table.", "scene_description": "A wooden kitchen table holds a gray hoodie at its center, a stack of additional clothing (plaid, purple, black) on its right side, and a single white robotic arm with a blue gripper positioned above the gray hoodie, with kitchen cabinets, a fridge, and a microwave visible in the background.", "global_instruction_dense": "The single robotic arm with a blue gripper repeatedly grasps different portions of the gray hoodie on the wooden table, lifts and pulls each portion outward to stretch the fabric, and repositions the hoodie across the table surface to unfold it fully.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 69, "tasks": ["unfold clothing"], "length": 2795, "global_instruction": "Unfold the red t-shirt from the clothes stack and lay it flat on the wooden table.", "scene_description": "A white robotic arm with a blue gripper is positioned above a wooden kitchen table. A stack of folded clothes sits on the table: a red t-shirt is on top, followed by a purple garment, a dark plaid item, and a black base. The background includes wooden kitchen cabinets, a stainless steel refrigerator, a microwave, a stove, and wooden stools around the table.", "global_instruction_dense": "The right robotic arm grasps the top red t-shirt from the folded clothes stack, lifts it, moves it to an empty spot on the wooden table, then repeatedly adjusts and pulls its edges to fully unfold the t-shirt with its front white logo facing upward, before moving away from the laid-flat shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 70, "tasks": ["unfold clothing"], "length": 2537, "global_instruction": "Unfold the folded green-blue plaid shirt on the wooden kitchen table.", "scene_description": "A wooden table holds a folded green-blue plaid shirt on a black bag with gray lining, a purple printed shirt to the right of the bag, and a white robotic arm with a blue gripper positioned above the plaid shirt, with a kitchen area (wooden cabinets, stainless steel fridge, microwave, stove) in the background.", "global_instruction_dense": "The right robotic arm with a blue gripper repeatedly grasps different sections of the folded green-blue plaid shirt, lifting, repositioning, and spreading each section across the table to fully unfold the shirt.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 71, "tasks": ["unfold clothing"], "length": 2886, "global_instruction": "Unfold the black garment with light grey lining and lay it flat on the plaid blanket on the table.", "scene_description": "In a kitchen space, a light wooden table is laid with a dark blue and green plaid blanket, a black garment with light grey inner lining, and a folded grey shirt. A white robotic arm is positioned above the table, with wooden upper cabinets, a stainless steel refrigerator, microwave, and stove visible in the background.", "global_instruction_dense": "The left robotic arm moves down toward the black garment with light grey lining on the wooden table, grasps it with its gripper, lifts and manipulates the fabric to fully unfold it, lowers the unfolded garment onto the blue-green plaid blanket, smooths the garment flat, then releases it and moves back to a raised position above the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 72, "tasks": ["unfold clothing"], "length": 1370, "global_instruction": "Unfold the black t-shirt and grey shirt placed on the wooden kitchen table.", "scene_description": "A light wooden table in a kitchen holds three fabric items: a folded grey shirt, a black t-shirt, and a blue-green plaid blanket, with wooden upper cabinets, a stainless steel refrigerator, microwave, and stove in the background, and a white robotic arm positioned beside the table.", "global_instruction_dense": "The right robotic gripper moves toward the black t-shirt on the wooden table, repeatedly grasps and lifts portions of the black t-shirt to unfold it, then shifts to the grey folded shirt, grasps and lifts sections of the grey shirt to spread and fully unfold it on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 73, "tasks": ["unfold clothing"], "length": 3481, "global_instruction": "Unfold the crumpled red T-shirt lying on the kitchen table so it lies flat.", "scene_description": "A white robotic arm with gray accents is positioned above a light wooden kitchen table. On the table, a purple shirt, a dark green plaid shirt, a gray shirt, and a crumpled red T-shirt are placed, with the red T-shirt to the right of the other clothes. The background includes wooden upper cabinets, a stainless steel refrigerator, a stove, and a microwave.", "global_instruction_dense": "The right robotic gripper repeatedly grasps different edges of the crumpled red T-shirt on the wooden kitchen table, pulls each edge outward to smooth the fabric, adjusts the shirt until it is fully spread flat revealing the white hand-and-gear logo on its front, then moves away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 74, "tasks": ["unfold clothing"], "length": 3133, "global_instruction": "Unfold the purple shirt and lay it flat on top of the red shirt on the table.", "scene_description": "A wooden table in a kitchen area holds four clothing items: a purple shirt, a dark green plaid shirt, a gray shirt, and a red shirt with a white logo. A white robotic arm with a blue gripper is positioned above the table, with wooden cabinets, a stainless steel refrigerator, a microwave, and a stove in the background.", "global_instruction_dense": "The robotic arm moves toward the stack of clothes on the table, grasps the purple shirt, lifts it, moves it over the red shirt, lowers it onto the red shirt, then repeatedly adjusts, manipulates, and smooths the purple shirt to fully unfold it flat on the red shirt, revealing the printed text on the purple shirt, before moving away from the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 75, "tasks": ["unfold clothing"], "length": 5600, "global_instruction": "Fully unfold the red folded shirt on the wooden table to reveal its front print.", "scene_description": "A wooden table in a kitchen-style lab area holds four folded clothing items: a dark plaid shirt, a gray shirt, a purple shirt, and a red shirt. A white robotic arm with a blue gripper is positioned above the left side of the table, with kitchen cabinets, a refrigerator, microwave, and stove visible in the background, plus wooden stools next to the table.", "global_instruction_dense": "The left robotic gripper repeatedly grasps, lifts, and adjusts the red folded shirt on the wooden table, then pulls and smooths its edges to fully unfold the shirt, exposing the white graphic print on its front.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 76, "tasks": ["unfold clothing"], "length": 5430, "global_instruction": "Unfold and flatten the wrinkled purple T-shirt on the wooden table.", "scene_description": "A white robotic arm with a blue end effector is positioned to the left of a wooden table. On the table lie a wrinkled purple T-shirt, a black piece of clothing, a dark plaid garment, a gray garment, and a red garment, with a kitchen area (wooden cabinets, stainless steel fridge, microwave, stove) in the background.", "global_instruction_dense": "The right robotic arm repeatedly grasps and pulls different edges of the wrinkled purple T-shirt on the wooden table to unfold and flatten it, then moves toward the adjacent black piece of clothing at the end of the sequence.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 77, "tasks": ["unfold clothing"], "length": 3894, "global_instruction": "Fully unfold and flatten the bright red t-shirt placed on the wooden kitchen table.", "scene_description": "A light wooden table in a kitchen environment holds multiple clothing items: a bright red t-shirt on the right side of the table, a black t-shirt and purple t-shirt in the center, and folded plaid and gray clothes on the left side. A white robotic arm with a blue gripper is positioned above the left section of the table, with wooden upper cabinets, a stainless steel refrigerator, a stove, and a microwave in the background, and a person seated at the far end of the table.", "global_instruction_dense": "The left robotic arm first grasps the purple t-shirt in the center of the table, moves it leftward and releases it to clear space, then repeatedly grasps and pulls different edges of the bright red t-shirt on the right of the table, adjusting its grip multiple times to fully unfold and flatten the red t-shirt across the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 78, "tasks": ["unfold clothing"], "length": 2461, "global_instruction": "Unfold the black printed garment on the wooden table.", "scene_description": "A crumpled black printed garment lies on a light wooden table, with a robotic arm positioned above the garment. The background is a kitchen area with wooden upper cabinets, a stainless steel refrigerator, and a microwave.", "global_instruction_dense": "The right robotic arm repeatedly moves over the crumpled black printed garment on the wooden table, grasps different sections of the garment, lifts and repositions each section, and releases them to gradually unfold and spread the garment on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 79, "tasks": ["unfold clothing"], "length": 2473, "global_instruction": "Fully unfold the black printed t-shirt flat on the wooden table.", "scene_description": "A black t-shirt with a colorful graphic print lies flat on a light wooden table. A white robotic arm is positioned to the left of the table, and the background features a kitchen area with wooden upper cabinets, an oven, a microwave, a refrigerator, plus an open office workspace with people working in the distance.", "global_instruction_dense": "The right robotic arm sequentially grasps different sections of the black printed t-shirt on the table, lifts and pulls each section to smooth wrinkles and stretch the fabric, and adjusts the t-shirt's position to fully unfold it flat across the wooden table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 80, "tasks": ["unfold clothing"], "length": 1471, "global_instruction": "Unfold the black printed t-shirt and lay it flat on the wooden kitchen table.", "scene_description": "A black t-shirt with a colorful print rests on a wooden kitchen table, a white robotic arm is positioned above the table, and kitchen cabinets, a microwave, and a stove are visible in the background.", "global_instruction_dense": "The right robotic gripper repeatedly grasps different sections of the black printed t-shirt on the wooden kitchen table, lifts and repositions each section to spread out the fabric, and adjusts the edges until the t-shirt is fully unfolded and laid flat on the table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 81, "tasks": ["unfold clothing"], "length": 3284, "global_instruction": "Unfold and lay flat the black printed T-shirt on the wooden kitchen table.", "scene_description": "A black T-shirt with a colorful print lies on a light wooden table in a kitchen setting, with a white robotic arm with a blue gripper positioned above it. The background has wooden upper cabinets, a stainless steel refrigerator, microwave, and stove.", "global_instruction_dense": "The right white robotic arm with a blue gripper repeatedly grasps different edges of the black printed T-shirt on the wooden kitchen table, lifts and repositions each fabric section, and smooths the surface until the T-shirt is fully laid flat with its colorful print clearly visible.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 82, "tasks": ["unfold clothing"], "length": 3307, "global_instruction": "Unfold the black T-shirt on the wooden kitchen table to lay it flat with its printed design facing upward.", "scene_description": "A white robotic arm with a blue gripper is positioned next to a light wooden table, where a black T-shirt with a white printed design is laid partially flat. The background is a kitchen area with wooden upper cabinets, a stainless steel refrigerator, a microwave, a stove, and food trays on the left side of the table.", "global_instruction_dense": "The right robotic gripper grasps multiple sections of the black T-shirt, lifts, repositions, and flips the fabric repeatedly, adjusting it until the T-shirt is fully spread flat on the table with its front printed design exposed facing upward.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 83, "tasks": ["unfold clothing"], "length": 3114, "global_instruction": "Fully unfold the partially folded black printed t-shirt and lay it flat on the wooden table.", "scene_description": "A partially folded black t-shirt with white printed design lies on a light wooden table. A dual-arm white robotic system with a blue gripper on its right arm is positioned above the t-shirt. The background is a kitchen space with wooden upper cabinets, a stainless steel refrigerator, microwave, stove, two wooden stools next to the table, plus a gray cat-shaped cloth, aluminum food trays, and a plate of food on the table.", "global_instruction_dense": "The right robotic arm with a blue gripper grasps sections of the partially folded black t-shirt, lifts the shirt to reveal its printed front design, lowers it back to the table, and smooths the fabric to fully unfold the t-shirt and lay it flat on the wooden tabletop.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 84, "tasks": ["unfold clothing"], "length": 3291, "global_instruction": "Unfold the light beige cloth and the black printed t-shirt, laying both flat on the wooden table.", "scene_description": "A white robotic arm with a blue gripper is positioned above a stack of folded light beige cloths on a light wooden table. The background is a kitchen area with brown upper cabinets, a stainless steel refrigerator, microwave, and stove, with miscellaneous items like a blue cup and yellow sponge on the right side of the table.", "global_instruction_dense": "The robotic arm with a blue gripper first grasps the top folded light beige cloth from the stack, moves it to the side of the table and lays it flat, then grasps the black printed t-shirt from the stack, manipulates its edges to fully unfold it, and lays it flat on the table with the printed design facing upward before moving away.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 85, "tasks": ["unfold clothing"], "length": 544, "global_instruction": "Unfold the black garment to lay flat on the wooden table.", "scene_description": "A black garment, a white cloth, and assorted small items (blue cup, yellow block, dark water bottle) are placed on a light wooden table. A white robotic arm is positioned above the left side of the table, with a kitchen area (wooden upper cabinets, stainless steel double-door fridge, microwave, oven) in the background.", "global_instruction_dense": "The right robotic gripper grasps the edge of the black garment, lifts and pulls it to spread the fabric, lays the edge back down on the table, then grasps another section of the garment to adjust it into a flat position.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 86, "tasks": ["unfold clothing"], "length": 3012, "global_instruction": "Place small yellow blocks into the green bowl then unfold the black patterned shirt on the wooden table.", "scene_description": "A wooden table holds a stack of multicolored cups (green top, blue, red, and orange lower sections), a yellow cup, a green bowl, an orange bowl, two small yellow blocks on a white cloth, a white canvas bag, and a black package at the right end of the table; a white robotic arm is positioned on the left side of the table, with a kitchen area (wooden cabinets, stainless steel fridge, microwave, stove) in the background.", "global_instruction_dense": "The right robotic arm moves toward small yellow blocks on the white cloth on the wooden table, grasps each block sequentially, moves and releases each block into the green bowl, then moves to the black patterned shirt, lifts and adjusts the fabric to unfold it flat on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 87, "tasks": ["unfold clothing"], "length": 1509, "global_instruction": "Unfold and arrange the black t-shirt, white tote bag, and white cloth on the wooden kitchen table.", "scene_description": "A wooden kitchen table holds a stacked multicolored cup set, two small bowls with items, a black graphic t-shirt, a white tote bag, a white cloth, and a packaged item on the right; a white robotic arm with a blue gripper is positioned left of the table, and a man in a purple plaid shirt stands right of the table in front of kitchen cabinets, a microwave, and a stainless steel refrigerator.", "global_instruction_dense": "The left robotic arm with a blue gripper sequentially grasps and unfolds the black graphic t-shirt, places it back on the table, then grasps and lifts the white tote bag before setting it down, next grasps and lays out the white cloth, then re-grasps the black t-shirt to adjust it before placing it back on the table and returning to a resting position.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 88, "tasks": ["unfold clothing"], "length": 4403, "global_instruction": "Unfold and arrange the three fabric pieces on the wooden kitchen table.", "scene_description": "A wooden kitchen table holds a black garment, an off-white garment, a white garment, a stack of colorful plastic cups, a yellow cup, and small bowls with items. A white robotic arm with a blue gripper attachment is positioned above the table, with wooden cabinets, a stainless steel fridge, microwave, and stove in the background.", "global_instruction_dense": "The right robotic arm first grasps and repositions the black garment, then grasps and repositions the off-white garment, then repeatedly grasps, lifts, and pulls edges of the white garment to fully unfold and spread it flat on the wooden kitchen table.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 89, "tasks": ["unfold clothing"], "length": 463, "global_instruction": "Unfold the black puffer jacket on the countertop", "scene_description": "A black puffer jacket rests on a dark grey countertop, with a light yellow bowl to the jacket's left, a grey rectangular container, white plate, and orange fabric to the jacket's right, and a white paper towel dispenser at the far right end of the counter. A white robotic arm is positioned above the left side of the jacket.", "global_instruction_dense": "The right robotic arm lowers to grasp the black puffer jacket, pulls a section of it outward, adjusts its grip to pull a section of the jacket again, then the left robotic arm moves into frame to help flatten and unfold the jacket on the countertop.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 90, "tasks": ["unfold clothing"], "length": 4235, "global_instruction": "Unfold the crumpled black printed t-shirt flat on the wooden table.", "scene_description": "A crumpled black printed t-shirt, a white cloth, and a cleaning spray bottle rest on a light wooden table in a lab space adjacent to a kitchen, with wooden stools along the table's left edge.", "global_instruction_dense": "The right robotic gripper repeatedly grasps different sections of the crumpled black t-shirt, pulls and adjusts each section to spread the fabric flat on the table, and fully reveals the t-shirt's printed graphic in the process.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 91, "tasks": ["unfold clothing"], "length": 4061, "global_instruction": "Unfold the black printed t-shirt on the wooden table.", "scene_description": "A right robotic arm is positioned above a light wooden table, with a black t-shirt featuring white text lying on the right side of the table. The background is a kitchen area with wooden upper cabinets, a stainless steel refrigerator, microwave, stove, and wooden stools with red legs beside the table.", "global_instruction_dense": "The right robotic arm repeatedly grasps different sections of the black t-shirt on the wooden table, lifts and pulls each section to spread the fabric, fully unfolding the t-shirt flat on the tabletop.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 92, "tasks": ["unfold clothing"], "length": 939, "global_instruction": "Unfold the crumpled black shirt placed on the wooden table.", "scene_description": "A crumpled black shirt lies on a light wooden table, with a kitchen area featuring wooden upper cabinets, a stainless steel refrigerator, microwave, and oven in the background, and a white robotic arm positioned above the table near the shirt.", "global_instruction_dense": "The right robotic arm moves toward the crumpled black shirt on the wooden table, grasps a section of the fabric, lifts and manipulates it to unfold the shirt, then lowers and places the adjusted fabric back onto the table before releasing it.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 93, "tasks": ["unfold clothing"], "length": 5203, "global_instruction": "Unfold the black T-shirt resting on the wooden kitchen table.", "scene_description": "A light wooden kitchen table holds a white canvas tote bag, with a black T-shirt partially covered by a blue robotic gripper; the background includes wooden upper cabinets, a stainless steel refrigerator, microwave, and kitchen stove.", "global_instruction_dense": "The right white robotic arm first lifts its blue gripper off the black T-shirt, then moves the white canvas tote bag to the left side of the table, and repeatedly grasps different edges of the black T-shirt, pulling and adjusting the garment to fully unfold it flat on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 94, "tasks": ["unfold clothing"], "length": 645, "global_instruction": "Unfold and arrange the black printed shirt and white canvas tote bag on the kitchen tabletop.", "scene_description": "A light wooden kitchen table holds a crumpled black printed shirt near the center, a crumpled white canvas tote bag to the left of the shirt, and a white robotic arm with a blue end effector positioned above the shirt. The background has wooden upper cabinets, a stainless steel refrigerator, a microwave, a stove, and wooden stools to the left of the table.", "global_instruction_dense": "The right robotic arm first adjusts and unfolds the crumpled black printed shirt on the table, then moves toward the white canvas tote bag, grasps it, and flattens it on the table surface.", "skill": "Fold / Unfold (Deformable)", "verb": "unfold", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
diff --git a/datasets/droid/data/unfold__clothing/meta/episodes_stats.jsonl b/datasets/droid/data/unfold__clothing/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a2159c069d5dc3e508c962a1eb30241473ffd3eb
--- /dev/null
+++ b/datasets/droid/data/unfold__clothing/meta/episodes_stats.jsonl
@@ -0,0 +1,95 @@
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diff --git a/datasets/droid/data/unfold__clothing/meta/info.json b/datasets/droid/data/unfold__clothing/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b874c4a230497a79527a9db766a6754d9723648c
--- /dev/null
+++ b/datasets/droid/data/unfold__clothing/meta/info.json
@@ -0,0 +1,255 @@
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+  }
+}
\ No newline at end of file
diff --git a/datasets/droid/data/unfold__clothing/meta/stats.json b/datasets/droid/data/unfold__clothing/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a5b8eeff0a254391533d99c2a6df264a26416c
--- /dev/null
+++ b/datasets/droid/data/unfold__clothing/meta/stats.json
@@ -0,0 +1,761 @@
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