{
  "name": "new_stack",
  "selection": [
    {
      "source": "pick_place",
      "skill": "approach"
    },
    {
      "source": "stack",
      "skill": "grasp"
    },
    {
      "source": "pick_place",
      "skill": "retreat"
    },
    {
      "source": "pick_place",
      "skill": "transport"
    },
    {
      "source": "stack",
      "skill": "stack"
    },
    {
      "source": "stack",
      "skill": "return"
    }
  ],
  "positions": [
    "lower",
    "upper"
  ],
  "episode_policy": "Each full atomic skill clip is an independent episode; no cropping or cross-source temporal concatenation.",
  "condition_policy": "new_stack uses cup task conditions and target-specific task text; original source object/text retained",
  "splits": {
    "train": {
      "episodes": 594,
      "frames": 60184,
      "original_episodes": 150
    }
  },
  "all_data_as_train": true,
  "normalization_scope": "all selected episodes; conditional mean/std identity for dimensions 30:57",
  "source_root": "rokae/1offline_skill_segment/dataset/3encode",
  "split_reference": "rokae/2offline_model/mlp/models/run_20261012_retrain_32frame/manifest.json",
  "seam_scope": "No pose-based filtering or cross-source concatenation; entry adaptation and cross-object transfer remain experiments",
  "composition_choices": [
    "lower_top1",
    "lower_top2",
    "upper_top1",
    "upper_top2"
  ]
}