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diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotations.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d53ec9233e618fece612d1754c61b3fbdcb45df
--- /dev/null
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,172 @@
+{"source_uid": "9f4fd43fca464b87", "num_frames": 813, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 206, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 207, "end_step": 319, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 320, "end_step": 455, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 581, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 582, "end_step": 633, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 206, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 207, "end_step": 319, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 320, "end_step": 455, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 581, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 582, "end_step": 633, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_15_49_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "8624569f56d0da21", "num_frames": 821, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 193, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 194, "end_step": 328, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 450, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 588, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 653, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 193, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 194, "end_step": 328, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 450, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 588, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 653, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_15_50_03_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "2b0cee39bb371bdc", "num_frames": 816, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 320, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 442, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 590, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 644, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 320, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 442, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 590, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 644, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_15_50_33_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
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+}
\ No newline at end of file
diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/modality.json b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+}
diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/stats.json b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee8e2351d051a4d7bf9917806f082b3126924c3
--- /dev/null
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/stats.json
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diff --git a/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/annotations.jsonl b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4f3016df06fe205d04c3617d222eea15fae0a8a
--- /dev/null
+++ b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,159 @@
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+{"source_uid": "ebeaf0eeb3539fc7", "num_frames": 1010, "episode_id": "POC22027_2026_05_12_17_38_50_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/wipe_knife/season_POC22027_2026_05_11_19_44_24_train/POC22027_2026_05_12_17_38_50_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/wipe_knife/season_POC22027_2026_05_11_19_44_24_train/POC22027_2026_05_12_17_38_50_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/wipe_knife/season_POC22027_2026_05_11_19_44_24_train/POC22027_2026_05_12_17_38_50_train/train_0.3.0@2026_05_12_17_38_50.hdf5", "tags": {"task_name": "Wipe the dinner knife clean", "task_instruction": "Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table.", "scene_description": "A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth.", "success_criteria": "All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the dinner knife with marker stains from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 426, "id": "subtask-002", "text": "Pick up the cleaning cloth from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 750, "id": "subtask-003", "text": "Wipe the stained knife blade with the cleaning cloth until all marker stains are removed. | Skill: wipe", "task_skill": "wipe", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 846, "id": "subtask-004", "text": "Place both the cleaned dinner knife and the cleaning cloth back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the dinner knife with marker stains from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 426, "id": "subtask-002", "text": "Pick up the cleaning cloth from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 750, "id": "subtask-003", "text": "Wipe the stained knife blade with the cleaning cloth until all marker stains are removed. | Skill: wipe", "task_skill": "wipe", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 846, "id": "subtask-004", "text": "Place both the cleaned dinner knife and the cleaning cloth back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 214, "v40_language_source": "previous_published_lerobot", "episode_index": 158}
diff --git a/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/episodes.jsonl b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b8955dd7935efb4bf206831e6fdb4f47aed139b2
--- /dev/null
+++ b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,159 @@
+{"episode_index": 0, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1532}
+{"episode_index": 1, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 791}
+{"episode_index": 2, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1496}
+{"episode_index": 3, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1328}
+{"episode_index": 4, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 926}
+{"episode_index": 5, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 756}
+{"episode_index": 6, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 794}
+{"episode_index": 7, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 806}
+{"episode_index": 8, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1062}
+{"episode_index": 9, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 747}
+{"episode_index": 10, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 720}
+{"episode_index": 11, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 616}
+{"episode_index": 12, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 731}
+{"episode_index": 13, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 729}
+{"episode_index": 14, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 668}
+{"episode_index": 15, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 994}
+{"episode_index": 16, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 656}
+{"episode_index": 17, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 737}
+{"episode_index": 18, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 767}
+{"episode_index": 19, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 651}
+{"episode_index": 20, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 631}
+{"episode_index": 21, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 619}
+{"episode_index": 22, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 936}
+{"episode_index": 23, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 754}
+{"episode_index": 24, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1069}
+{"episode_index": 25, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1037}
+{"episode_index": 26, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 974}
+{"episode_index": 27, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 673}
+{"episode_index": 28, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1017}
+{"episode_index": 29, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 765}
+{"episode_index": 30, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 626}
+{"episode_index": 31, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 722}
+{"episode_index": 32, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 729}
+{"episode_index": 33, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 880}
+{"episode_index": 34, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 724}
+{"episode_index": 35, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 762}
+{"episode_index": 36, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 786}
+{"episode_index": 37, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 708}
+{"episode_index": 38, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 832}
+{"episode_index": 39, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 631}
+{"episode_index": 40, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 596}
+{"episode_index": 41, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 592}
+{"episode_index": 42, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 696}
+{"episode_index": 43, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 734}
+{"episode_index": 44, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 572}
+{"episode_index": 45, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 644}
+{"episode_index": 46, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 841}
+{"episode_index": 47, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 636}
+{"episode_index": 48, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 721}
+{"episode_index": 49, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 875}
+{"episode_index": 50, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 628}
+{"episode_index": 51, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 650}
+{"episode_index": 52, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 830}
+{"episode_index": 53, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 637}
+{"episode_index": 54, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 844}
+{"episode_index": 55, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 572}
+{"episode_index": 56, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 939}
+{"episode_index": 57, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 690}
+{"episode_index": 58, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 864}
+{"episode_index": 59, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 684}
+{"episode_index": 60, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 791}
+{"episode_index": 61, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 597}
+{"episode_index": 62, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 949}
+{"episode_index": 63, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 658}
+{"episode_index": 64, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1086}
+{"episode_index": 65, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1132}
+{"episode_index": 66, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 880}
+{"episode_index": 67, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 971}
+{"episode_index": 68, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1001}
+{"episode_index": 69, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1234}
+{"episode_index": 70, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1105}
+{"episode_index": 71, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 979}
+{"episode_index": 72, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 877}
+{"episode_index": 73, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1050}
+{"episode_index": 74, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1242}
+{"episode_index": 75, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 789}
+{"episode_index": 76, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 900}
+{"episode_index": 77, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1167}
+{"episode_index": 78, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1009}
+{"episode_index": 79, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1088}
+{"episode_index": 80, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1035}
+{"episode_index": 81, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 919}
+{"episode_index": 82, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1033}
+{"episode_index": 83, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1041}
+{"episode_index": 84, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1031}
+{"episode_index": 85, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 940}
+{"episode_index": 86, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 832}
+{"episode_index": 87, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 980}
+{"episode_index": 88, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1104}
+{"episode_index": 89, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1237}
+{"episode_index": 90, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 937}
+{"episode_index": 91, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 977}
+{"episode_index": 92, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 861}
+{"episode_index": 93, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 902}
+{"episode_index": 94, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 854}
+{"episode_index": 95, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1160}
+{"episode_index": 96, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 963}
+{"episode_index": 97, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 912}
+{"episode_index": 98, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 973}
+{"episode_index": 99, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1247}
+{"episode_index": 100, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1006}
+{"episode_index": 101, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 982}
+{"episode_index": 102, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1098}
+{"episode_index": 103, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1038}
+{"episode_index": 104, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 880}
+{"episode_index": 105, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 947}
+{"episode_index": 106, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 901}
+{"episode_index": 107, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1027}
+{"episode_index": 108, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 923}
+{"episode_index": 109, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 857}
+{"episode_index": 110, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 839}
+{"episode_index": 111, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1054}
+{"episode_index": 112, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 907}
+{"episode_index": 113, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1083}
+{"episode_index": 114, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 892}
+{"episode_index": 115, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 974}
+{"episode_index": 116, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 951}
+{"episode_index": 117, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 856}
+{"episode_index": 118, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 909}
+{"episode_index": 119, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 894}
+{"episode_index": 120, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 916}
+{"episode_index": 121, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1036}
+{"episode_index": 122, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 901}
+{"episode_index": 123, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 931}
+{"episode_index": 124, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1085}
+{"episode_index": 125, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1413}
+{"episode_index": 126, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1079}
+{"episode_index": 127, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 907}
+{"episode_index": 128, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 815}
+{"episode_index": 129, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 778}
+{"episode_index": 130, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 817}
+{"episode_index": 131, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 844}
+{"episode_index": 132, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 839}
+{"episode_index": 133, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 874}
+{"episode_index": 134, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 827}
+{"episode_index": 135, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 785}
+{"episode_index": 136, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 867}
+{"episode_index": 137, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1004}
+{"episode_index": 138, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 994}
+{"episode_index": 139, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1027}
+{"episode_index": 140, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 856}
+{"episode_index": 141, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 769}
+{"episode_index": 142, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 814}
+{"episode_index": 143, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 810}
+{"episode_index": 144, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 823}
+{"episode_index": 145, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 965}
+{"episode_index": 146, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 920}
+{"episode_index": 147, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1060}
+{"episode_index": 148, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 885}
+{"episode_index": 149, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 899}
+{"episode_index": 150, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 958}
+{"episode_index": 151, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1201}
+{"episode_index": 152, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 834}
+{"episode_index": 153, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 819}
+{"episode_index": 154, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 812}
+{"episode_index": 155, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 923}
+{"episode_index": 156, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 816}
+{"episode_index": 157, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 783}
+{"episode_index": 158, "tasks": ["Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."], "length": 1010}
diff --git a/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/episodes_stats.jsonl b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1272afaabdcb8e7f2c009560e1413f96704e1da3
--- /dev/null
+++ b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,159 @@
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diff --git a/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/info.json b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a83435920431c1cb12b19ed7cac5813983bf702
--- /dev/null
+++ b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/modality.json b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/subtasks.jsonl b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..069223be35e6377c3c144fa4868b1416b8f5ed4d
--- /dev/null
+++ b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the dinner knife with marker stains from the table. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Pick up the cleaning cloth from the table. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Wipe the stained knife blade with the cleaning cloth until all marker stains are removed. | Skill: wipe"}
+{"subtask_index": 3, "subtask": "Place both the cleaned dinner knife and the cleaning cloth back on the table. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."}
diff --git a/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/tasks.jsonl b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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+++ b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Wipe the dinner knife clean | Instruction: Pick up the dinner knife with marker stains, pick up the cleaning cloth, wipe the knife blade clean of all stains, then place both the knife and cloth back on the table. | Scene: A dinner knife with black marker stains and a cleaning cloth are placed on a flat surface. The robot needs to clean the knife using the cloth. | Success: All marker stains are removed from the knife blade. Both the knife and cloth are placed back on the table."}
diff --git a/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/v40_validation.json b/clean_knife_with_cloth/season_POC22027_2026_05_11_19_44_24_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 159,
+  "frames": 141784,
+  "video_frames": {
+    "observation.images.head_left": 141784,
+    "observation.images.wrist_left": 141784,
+    "observation.images.wrist_right": 141784,
+    "observation.images.head_right": 141784,
+    "observation.images.tactile_deform": 141784,
+    "observation.images.tactile_raw": 141784
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 159
+}
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