Correct language annotations (place_coffee_filter_in_dripper, one sweep episode), add tic-tac-toe step subtasks; update dataset card

Language-only fix; no data or video files change.

- place_coffee_filter_in_dripper (21 seasons, 784 episodes): text described placing pens in a holder; now describes the coffee-filter task shown in the video (from the raw annotation files). Segment intervals unchanged.
- sweep_waste_into_dustpan/season_POC22054_2026_05_30_11_16_03_train episode 0: sweep text replaced with the dustpan-emptying text its video shows.
- play_tic_tac_toe (521 episodes): step subtasks with skill labels, instruction and success criteria added; per-hand descriptions kept (label hand_actions).
- README: segment counts updated; field descriptions note that the torso joint-torque dims and the TCP force/torque slots are 0.

Previous revision: 6b48181a41d8836692fb1204cc60ade64e107d20

README.md

@@ -51,11 +51,11 @@ The task set covers object rearrangement, articulated-object interaction, assemb
 
 | Tasks | Episodes | Duration | Frequency | Video streams | Language segments |
 | ---: | ---: | ---: | ---: | ---: | ---: |
-| 59 | 28,993 | 300.0 hours | 30 FPS | 6 | 208,264 |
+| 59 | 28,993 | 300.0 hours | 30 FPS | 6 | 217,642 |
 
 | Modality | Content |
 | --- | --- |
-| Robot | 65D joint state, 65D action, 65D joint torque, 24D TCP state, and separate 12D observed / commanded TCP poses |
+| Robot | 65D joint state, 65D action, 65D joint torque (58 dims carry data; the 7 torso dims are 0), 24D TCP state (pose; its force slots are 0), and separate 12D observed / commanded TCP poses |
 | Vision | Two head cameras and two wrist cameras |
 | Tactile | 60D force/torque signal, deformation video, and raw tactile video |
 | Language | Structured task descriptions, frame-aligned subtasks, and 45 skill labels |
@@ -78,13 +78,13 @@ The task set covers object rearrangement, articulated-object interaction, assemb
 | FPS | 30 |
 | Synchronized video streams | 6 |
 | State / action dimension | 65 |
-| Joint-torque dimension | 65 |
-| TCP-state dimension | 24 |
+| Joint-torque dimension | 65 (arms and hands 58; torso 7, always 0) |
+| TCP-state dimension | 24 (pose 12; force/torque 12, always 0) |
 | Observed / commanded TCP-pose dimension | 12 / 12 |
 | Tactile-signal dimension | 60 |
 | Episodes with global language annotations | 28,993 (100%) |
-| Temporally grounded language segments | 208,264 |
-| Frames covered by temporal language segments | 28,897,608 (89.2%) |
+| Temporally grounded language segments | 217,642 |
+| Frames covered by temporal language segments | 28,897,909 (89.2%) |
 | Distinct skill labels | 45 |
 
 </details>
@@ -303,8 +303,8 @@ All inspected seasons expose the same main feature set.
 | --- | --- | ---: | --- |
 | `observation.state` | float32 | 65 | Joint-space robot state |
 | `action` | float32 | 65 | Joint-space action target |
-| `observation.state.joint_torque` | float32 | 65 | Joint-torque signal |
-| `observation.state.tcp` | float32 | 24 | Left/right tool-center-point pose and force state |
+| `observation.state.joint_torque` | float32 | 65 | Joint-torque signal. Arms and hands (dims 0–57) carry data; the torso dims 58–64 are always 0 |
+| `observation.state.tcp` | float32 | 24 | Left/right tool-center-point pose and force/torque; the force/torque slots are always 0 |
 | `observation.state.tcp_pose` | float32 | 12 | Left/right observed TCP poses, 6 components per arm |
 | `action.tcp_pose` | float32 | 12 | Left/right commanded TCP poses, 6 components per arm |
 | `observation.tactile` | float32 | 60 | 10 fingertips x 6-axis force/torque signal |
@@ -333,7 +333,7 @@ The 65D state, joint-torque, and action vectors use the following order:
 
 The observation is read from the source `state/left_arm/tcp_pose` and `state/right_arm/tcp_pose`; the action is read from the corresponding `action/.../tcp_pose` streams. Each stream uses its own `aligned_index`. Source values and pose representation are preserved; commanded poses are not copied from observed poses or reconstructed using forward kinematics.
 
-The existing 24D `observation.state.tcp` remains unchanged: left pose `0:6`, left force/torque `6:12`, right pose `12:18`, right force/torque `18:24`. Its two pose slices correspond to the new observed TCP-pose vector.
+The existing 24D `observation.state.tcp` remains unchanged: left pose `0:6`, left force/torque `6:12`, right pose `12:18`, right force/torque `18:24`. Its two pose slices correspond to the new observed TCP-pose vector. The force/torque slices are 0 in every episode.
 
 The export does not fully declare TCP units, reference frames or rotation convention (`rotation_type` is null). Use the acquisition/controller convention before geometric transformations; do not infer Euler angles or quaternions from the vector width alone.
 
@@ -386,10 +386,10 @@ Each episode is decomposed into language segments. A segment contains:
 | `start_step`, `end_step` | Frame-index interval for the subtask |
 | `text` | Natural-language description of the action phase |
 | `task_skill` | Compact semantic skill label such as `pick`, `place`, `move`, `insert`, `fold`, or `wipe` |
-| `label` | Annotation type, including `subtasks` and recovered action descriptions |
+| `label` | Annotation type: `subtasks`, or `hand_actions` for the per-hand action descriptions that `play_tic_tac_toe` carries under its step subtasks |
 | `id` | Episode-local subtask identifier |
 
-Across the release, all 28,993 episodes contain language annotations. The dataset provides 208,264 temporal subtask segments spanning 28,897,608 frames, or approximately 89.2% of all frames. The segments use 45 nonempty skill labels; recovered descriptions may not have a separate skill label. Frames outside a fine-grained segment remain associated with the episode-level task description.
+Across the release, all 28,993 episodes contain language annotations. The dataset provides 217,642 temporal subtask segments spanning 28,897,909 frames, or approximately 89.2% of all frames. The segments use 45 nonempty skill labels; recovered descriptions may not have a separate skill label. Frames outside a fine-grained segment remain associated with the episode-level task description.
 
 For example, a plate-cleaning trajectory is decomposed into phases such as:
 
@@ -456,7 +456,7 @@ For policy learning, a typical configuration is:
 
 - Visual observations: one or more `observation.images.*` streams
 - Proprioception: `observation.state`
-- Optional force and contact inputs: joint torque, TCP state, and `observation.tactile`
+- Optional force and contact inputs: arm and hand joint torque (dims 0–57 of `observation.state.joint_torque`) and `observation.tactile`
 - Optional tactile vision: `observation.images.tactile_deform` and/or `observation.images.tactile_raw`
 - Supervision target: `action`, or `action.tcp_pose` for a TCP-based action representation
 - Language conditioning: structured task instruction, scene description, and success criteria

place_coffee_filter_in_dripper/season_POC22018_2026_05_13_11_07_06_train/lerobot_v2.1/meta/episodes.jsonl

@@ -1,24 +1,24 @@
-{"episode_index": 0, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 3014}
-{"episode_index": 1, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2661}
-{"episode_index": 2, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 3169}
-{"episode_index": 3, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 3959}
-{"episode_index": 4, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 3424}
-{"episode_index": 5, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 3209}
-{"episode_index": 6, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 3103}
-{"episode_index": 7, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2871}
-{"episode_index": 8, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2751}
-{"episode_index": 9, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2547}
-{"episode_index": 10, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2594}
-{"episode_index": 11, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2584}
-{"episode_index": 12, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2947}
-{"episode_index": 13, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2416}
-{"episode_index": 14, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2365}
-{"episode_index": 15, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2927}
-{"episode_index": 16, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 3245}
-{"episode_index": 17, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2182}
-{"episode_index": 18, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2887}
-{"episode_index": 19, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2835}
-{"episode_index": 20, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2474}
-{"episode_index": 21, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2434}
-{"episode_index": 22, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2600}
-{"episode_index": 23, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2918}
+{"episode_index": 0, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 3014}
+{"episode_index": 1, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2661}
+{"episode_index": 2, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 3169}
+{"episode_index": 3, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 3959}
+{"episode_index": 4, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 3424}
+{"episode_index": 5, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 3209}
+{"episode_index": 6, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 3103}
+{"episode_index": 7, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2871}
+{"episode_index": 8, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2751}
+{"episode_index": 9, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2547}
+{"episode_index": 10, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2594}
+{"episode_index": 11, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2584}
+{"episode_index": 12, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2947}
+{"episode_index": 13, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2416}
+{"episode_index": 14, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2365}
+{"episode_index": 15, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2927}
+{"episode_index": 16, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 3245}
+{"episode_index": 17, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2182}
+{"episode_index": 18, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2887}
+{"episode_index": 19, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2835}
+{"episode_index": 20, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2474}
+{"episode_index": 21, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2434}
+{"episode_index": 22, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2600}
+{"episode_index": 23, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2918}

place_coffee_filter_in_dripper/season_POC22018_2026_05_13_11_07_06_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -1,13 +1,13 @@
-{"subtask_index": 0, "subtask": "Pick up the first pen from the table. | Skill: pick"}
-{"subtask_index": 1, "subtask": "Move the first pen above the pen holder. | Skill: move"}
-{"subtask_index": 2, "subtask": "Place the first pen into the pen holder. | Skill: place"}
-{"subtask_index": 3, "subtask": "Pick up the second pen from the table. | Skill: pick"}
-{"subtask_index": 4, "subtask": "Move the second pen above the pen holder. | Skill: move"}
-{"subtask_index": 5, "subtask": "Place the second pen into the pen holder. | Skill: place"}
-{"subtask_index": 6, "subtask": "Pick up the third pen from the table. | Skill: pick"}
-{"subtask_index": 7, "subtask": "Move the third pen above the pen holder. | Skill: move"}
-{"subtask_index": 8, "subtask": "Place the third pen into the pen holder. | Skill: place"}
-{"subtask_index": 9, "subtask": "Pick up the fourth pen from the table. | Skill: pick"}
-{"subtask_index": 10, "subtask": "Move the fourth pen above the pen holder. | Skill: move"}
-{"subtask_index": 11, "subtask": "Place the fourth pen into the pen holder. | Skill: place"}
-{"subtask_index": 12, "subtask": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"subtask_index": 0, "subtask": "Pick up the coffee pot with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Place the coffee pot in front of the robot. | Skill: place"}
+{"subtask_index": 2, "subtask": "Pick up the dripper tray with the left hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Place the dripper tray on top of the coffee pot. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the coffee dripper with the left hand. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Flip the coffee dripper with both hands to the correct orientation. | Skill: flip"}
+{"subtask_index": 6, "subtask": "Place the coffee dripper on the dripper tray. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up one folded coffee filter with the right hand. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Open the folded coffee filter with both hands. | Skill: open"}
+{"subtask_index": 9, "subtask": "Smooth and flatten the opened coffee filter with both hands. | Skill: adjust"}
+{"subtask_index": 10, "subtask": "Insert the coffee filter into the dripper. | Skill: insert"}
+{"subtask_index": 11, "subtask": "Press and adjust the filter so it sits smoothly inside the dripper. | Skill: press"}
+{"subtask_index": 12, "subtask": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22018_2026_05_13_11_07_06_train/lerobot_v2.1/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"task_index": 0, "task": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22018_2026_05_13_11_07_06_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:38bf5ef88a3524fb31fe031a4635a27e398e5ff00d1e8337eeebcc967ceb0424
-size 753635
+oid sha256:ed138437f24f1ee97f68044140df636f5e0ffc07e4005da1c9caf3f7fb9a3e33
+size 756958

place_coffee_filter_in_dripper/season_POC22018_2026_05_13_11_07_06_train/lerobot_v3.0/meta/subtasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:283c8e33e80d4c5c37b484a173715cf8a0bee663905c2ec9c6444c7cc74d249a
-size 3752
+oid sha256:ba576b59517bb8485b861b0fef255f2adacf7ec8dc60e1a01dbc7420044e6d19
+size 4533

place_coffee_filter_in_dripper/season_POC22018_2026_05_13_11_07_06_train/lerobot_v3.0/meta/tasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:59632a1c3511dbd5445ec4cf6f224b5baab038b451f3db5399410d579d8df959
-size 4714
+oid sha256:b5b829fb2498ff6c92d3219aac2fc2b668ca2ad96553526f5f3af527d56424ec
+size 5821

place_coffee_filter_in_dripper/season_POC22027_2026_05_10_21_20_40_train/lerobot_v2.1/meta/episodes.jsonl

@@ -1,19 +1,19 @@
-{"episode_index": 0, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2401}
-{"episode_index": 1, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2059}
-{"episode_index": 2, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1988}
-{"episode_index": 3, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2166}
-{"episode_index": 4, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2174}
-{"episode_index": 5, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1759}
-{"episode_index": 6, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1863}
-{"episode_index": 7, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1743}
-{"episode_index": 8, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1930}
-{"episode_index": 9, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2065}
-{"episode_index": 10, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2183}
-{"episode_index": 11, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2436}
-{"episode_index": 12, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1934}
-{"episode_index": 13, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1932}
-{"episode_index": 14, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1756}
-{"episode_index": 15, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1711}
-{"episode_index": 16, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1680}
-{"episode_index": 17, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1731}
-{"episode_index": 18, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1601}
+{"episode_index": 0, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2401}
+{"episode_index": 1, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2059}
+{"episode_index": 2, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1988}
+{"episode_index": 3, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2166}
+{"episode_index": 4, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2174}
+{"episode_index": 5, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1759}
+{"episode_index": 6, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1863}
+{"episode_index": 7, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1743}
+{"episode_index": 8, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1930}
+{"episode_index": 9, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2065}
+{"episode_index": 10, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2183}
+{"episode_index": 11, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2436}
+{"episode_index": 12, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1934}
+{"episode_index": 13, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1932}
+{"episode_index": 14, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1756}
+{"episode_index": 15, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1711}
+{"episode_index": 16, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1680}
+{"episode_index": 17, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1731}
+{"episode_index": 18, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1601}

place_coffee_filter_in_dripper/season_POC22027_2026_05_10_21_20_40_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -1,13 +1,13 @@
-{"subtask_index": 0, "subtask": "Pick up the first pen from the table. | Skill: pick"}
-{"subtask_index": 1, "subtask": "Move the first pen above the pen holder. | Skill: move"}
-{"subtask_index": 2, "subtask": "Place the first pen into the pen holder. | Skill: place"}
-{"subtask_index": 3, "subtask": "Pick up the second pen from the table. | Skill: pick"}
-{"subtask_index": 4, "subtask": "Move the second pen above the pen holder. | Skill: move"}
-{"subtask_index": 5, "subtask": "Place the second pen into the pen holder. | Skill: place"}
-{"subtask_index": 6, "subtask": "Pick up the third pen from the table. | Skill: pick"}
-{"subtask_index": 7, "subtask": "Move the third pen above the pen holder. | Skill: move"}
-{"subtask_index": 8, "subtask": "Place the third pen into the pen holder. | Skill: place"}
-{"subtask_index": 9, "subtask": "Pick up the fourth pen from the table. | Skill: pick"}
-{"subtask_index": 10, "subtask": "Move the fourth pen above the pen holder. | Skill: move"}
-{"subtask_index": 11, "subtask": "Place the fourth pen into the pen holder. | Skill: place"}
-{"subtask_index": 12, "subtask": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"subtask_index": 0, "subtask": "Pick up the coffee pot with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Place the coffee pot in front of the robot. | Skill: place"}
+{"subtask_index": 2, "subtask": "Pick up the dripper tray with the left hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Place the dripper tray on top of the coffee pot. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the coffee dripper with the left hand. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Flip the coffee dripper with both hands to the correct orientation. | Skill: flip"}
+{"subtask_index": 6, "subtask": "Place the coffee dripper on the dripper tray. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up one folded coffee filter with the right hand. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Open the folded coffee filter with both hands. | Skill: open"}
+{"subtask_index": 9, "subtask": "Smooth and flatten the opened coffee filter with both hands. | Skill: adjust"}
+{"subtask_index": 10, "subtask": "Insert the coffee filter into the dripper. | Skill: insert"}
+{"subtask_index": 11, "subtask": "Press and adjust the filter so it sits smoothly inside the dripper. | Skill: press"}
+{"subtask_index": 12, "subtask": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22027_2026_05_10_21_20_40_train/lerobot_v2.1/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"task_index": 0, "task": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22027_2026_05_10_21_20_40_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bdc16297dcbf77e14d9b1131a3f71f95933291c726b2531d58134e2c1fdcaf81
-size 578355
+oid sha256:ea7edfd05a7082ede86d4f1330526f2ac1511bc7ef71cfa560ad415aa0c2408c
+size 580570

place_coffee_filter_in_dripper/season_POC22027_2026_05_10_21_20_40_train/lerobot_v3.0/meta/subtasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:283c8e33e80d4c5c37b484a173715cf8a0bee663905c2ec9c6444c7cc74d249a
-size 3752
+oid sha256:ba576b59517bb8485b861b0fef255f2adacf7ec8dc60e1a01dbc7420044e6d19
+size 4533

place_coffee_filter_in_dripper/season_POC22027_2026_05_10_21_20_40_train/lerobot_v3.0/meta/tasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:59632a1c3511dbd5445ec4cf6f224b5baab038b451f3db5399410d579d8df959
-size 4714
+oid sha256:b5b829fb2498ff6c92d3219aac2fc2b668ca2ad96553526f5f3af527d56424ec
+size 5821

place_coffee_filter_in_dripper/season_POC22032_2026_05_06_13_36_14_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -1,13 +1,13 @@
-{"subtask_index": 0, "subtask": "Pick up the first pen from the table. | Skill: pick"}
-{"subtask_index": 1, "subtask": "Move the first pen above the pen holder. | Skill: move"}
-{"subtask_index": 2, "subtask": "Place the first pen into the pen holder. | Skill: place"}
-{"subtask_index": 3, "subtask": "Pick up the second pen from the table. | Skill: pick"}
-{"subtask_index": 4, "subtask": "Move the second pen above the pen holder. | Skill: move"}
-{"subtask_index": 5, "subtask": "Place the second pen into the pen holder. | Skill: place"}
-{"subtask_index": 6, "subtask": "Pick up the third pen from the table. | Skill: pick"}
-{"subtask_index": 7, "subtask": "Move the third pen above the pen holder. | Skill: move"}
-{"subtask_index": 8, "subtask": "Place the third pen into the pen holder. | Skill: place"}
-{"subtask_index": 9, "subtask": "Pick up the fourth pen from the table. | Skill: pick"}
-{"subtask_index": 10, "subtask": "Move the fourth pen above the pen holder. | Skill: move"}
-{"subtask_index": 11, "subtask": "Place the fourth pen into the pen holder. | Skill: place"}
-{"subtask_index": 12, "subtask": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"subtask_index": 0, "subtask": "Pick up the coffee pot with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Place the coffee pot in front of the robot. | Skill: place"}
+{"subtask_index": 2, "subtask": "Pick up the dripper tray with the left hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Place the dripper tray on top of the coffee pot. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the coffee dripper with the left hand. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Flip the coffee dripper with both hands to the correct orientation. | Skill: flip"}
+{"subtask_index": 6, "subtask": "Place the coffee dripper on the dripper tray. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up one folded coffee filter with the right hand. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Open the folded coffee filter with both hands. | Skill: open"}
+{"subtask_index": 9, "subtask": "Smooth and flatten the opened coffee filter with both hands. | Skill: adjust"}
+{"subtask_index": 10, "subtask": "Insert the coffee filter into the dripper. | Skill: insert"}
+{"subtask_index": 11, "subtask": "Press and adjust the filter so it sits smoothly inside the dripper. | Skill: press"}
+{"subtask_index": 12, "subtask": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22032_2026_05_06_13_36_14_train/lerobot_v2.1/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"task_index": 0, "task": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22032_2026_05_06_13_36_14_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6de182affdc191252c06a4a1036237154d518015cf19b6256283bd4ef3904fef
-size 4001457
+oid sha256:b40f1a23d72b059a0069f9b6cf52033125ba85f4aafedaaa900708a0370052d0
+size 4018080

place_coffee_filter_in_dripper/season_POC22032_2026_05_06_13_36_14_train/lerobot_v3.0/meta/subtasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:283c8e33e80d4c5c37b484a173715cf8a0bee663905c2ec9c6444c7cc74d249a
-size 3752
+oid sha256:ba576b59517bb8485b861b0fef255f2adacf7ec8dc60e1a01dbc7420044e6d19
+size 4533

place_coffee_filter_in_dripper/season_POC22032_2026_05_06_13_36_14_train/lerobot_v3.0/meta/tasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:59632a1c3511dbd5445ec4cf6f224b5baab038b451f3db5399410d579d8df959
-size 4714
+oid sha256:b5b829fb2498ff6c92d3219aac2fc2b668ca2ad96553526f5f3af527d56424ec
+size 5821

place_coffee_filter_in_dripper/season_POC22032_2026_05_07_10_15_34_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -1,13 +1,13 @@
-{"subtask_index": 0, "subtask": "Pick up the first pen from the table. | Skill: pick"}
-{"subtask_index": 1, "subtask": "Move the first pen above the pen holder. | Skill: move"}
-{"subtask_index": 2, "subtask": "Place the first pen into the pen holder. | Skill: place"}
-{"subtask_index": 3, "subtask": "Pick up the second pen from the table. | Skill: pick"}
-{"subtask_index": 4, "subtask": "Move the second pen above the pen holder. | Skill: move"}
-{"subtask_index": 5, "subtask": "Place the second pen into the pen holder. | Skill: place"}
-{"subtask_index": 6, "subtask": "Pick up the third pen from the table. | Skill: pick"}
-{"subtask_index": 7, "subtask": "Move the third pen above the pen holder. | Skill: move"}
-{"subtask_index": 8, "subtask": "Place the third pen into the pen holder. | Skill: place"}
-{"subtask_index": 9, "subtask": "Pick up the fourth pen from the table. | Skill: pick"}
-{"subtask_index": 10, "subtask": "Move the fourth pen above the pen holder. | Skill: move"}
-{"subtask_index": 11, "subtask": "Place the fourth pen into the pen holder. | Skill: place"}
-{"subtask_index": 12, "subtask": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"subtask_index": 0, "subtask": "Pick up the coffee pot with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Place the coffee pot in front of the robot. | Skill: place"}
+{"subtask_index": 2, "subtask": "Pick up the dripper tray with the left hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Place the dripper tray on top of the coffee pot. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the coffee dripper with the left hand. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Flip the coffee dripper with both hands to the correct orientation. | Skill: flip"}
+{"subtask_index": 6, "subtask": "Place the coffee dripper on the dripper tray. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up one folded coffee filter with the right hand. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Open the folded coffee filter with both hands. | Skill: open"}
+{"subtask_index": 9, "subtask": "Smooth and flatten the opened coffee filter with both hands. | Skill: adjust"}
+{"subtask_index": 10, "subtask": "Insert the coffee filter into the dripper. | Skill: insert"}
+{"subtask_index": 11, "subtask": "Press and adjust the filter so it sits smoothly inside the dripper. | Skill: press"}
+{"subtask_index": 12, "subtask": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22032_2026_05_07_10_15_34_train/lerobot_v2.1/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"task_index": 0, "task": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22032_2026_05_07_10_15_34_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4d7e45074c8da3daba94e27667861fc37168e081aa7d45d46ac47a23b348a0ad
-size 1890610
+oid sha256:343394d93f1d3040370f4b07cb5bd7a04a442fb90716068ccd296883d6fa5608
+size 1898367

place_coffee_filter_in_dripper/season_POC22032_2026_05_07_10_15_34_train/lerobot_v3.0/meta/subtasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:283c8e33e80d4c5c37b484a173715cf8a0bee663905c2ec9c6444c7cc74d249a
-size 3752
+oid sha256:ba576b59517bb8485b861b0fef255f2adacf7ec8dc60e1a01dbc7420044e6d19
+size 4533

place_coffee_filter_in_dripper/season_POC22032_2026_05_07_10_15_34_train/lerobot_v3.0/meta/tasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:59632a1c3511dbd5445ec4cf6f224b5baab038b451f3db5399410d579d8df959
-size 4714
+oid sha256:b5b829fb2498ff6c92d3219aac2fc2b668ca2ad96553526f5f3af527d56424ec
+size 5821

place_coffee_filter_in_dripper/season_POC22032_2026_05_08_16_53_35_train/lerobot_v2.1/meta/episodes.jsonl

@@ -1,30 +1,30 @@
-{"episode_index": 0, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2395}
-{"episode_index": 1, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2376}
-{"episode_index": 2, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2496}
-{"episode_index": 3, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2234}
-{"episode_index": 4, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2207}
-{"episode_index": 5, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2351}
-{"episode_index": 6, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2116}
-{"episode_index": 7, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2707}
-{"episode_index": 8, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2343}
-{"episode_index": 9, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2076}
-{"episode_index": 10, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2572}
-{"episode_index": 11, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2469}
-{"episode_index": 12, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2811}
-{"episode_index": 13, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2270}
-{"episode_index": 14, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2425}
-{"episode_index": 15, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2497}
-{"episode_index": 16, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2279}
-{"episode_index": 17, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 1917}
-{"episode_index": 18, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2082}
-{"episode_index": 19, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2086}
-{"episode_index": 20, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2360}
-{"episode_index": 21, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2293}
-{"episode_index": 22, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2600}
-{"episode_index": 23, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2155}
-{"episode_index": 24, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2745}
-{"episode_index": 25, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2200}
-{"episode_index": 26, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2183}
-{"episode_index": 27, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2014}
-{"episode_index": 28, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2017}
-{"episode_index": 29, "tasks": ["Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."], "length": 2180}
+{"episode_index": 0, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2395}
+{"episode_index": 1, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2376}
+{"episode_index": 2, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2496}
+{"episode_index": 3, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2234}
+{"episode_index": 4, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2207}
+{"episode_index": 5, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2351}
+{"episode_index": 6, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2116}
+{"episode_index": 7, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2707}
+{"episode_index": 8, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2343}
+{"episode_index": 9, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2076}
+{"episode_index": 10, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2572}
+{"episode_index": 11, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2469}
+{"episode_index": 12, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2811}
+{"episode_index": 13, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2270}
+{"episode_index": 14, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2425}
+{"episode_index": 15, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2497}
+{"episode_index": 16, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2279}
+{"episode_index": 17, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 1917}
+{"episode_index": 18, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2082}
+{"episode_index": 19, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2086}
+{"episode_index": 20, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2360}
+{"episode_index": 21, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2293}
+{"episode_index": 22, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2600}
+{"episode_index": 23, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2155}
+{"episode_index": 24, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2745}
+{"episode_index": 25, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2200}
+{"episode_index": 26, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2183}
+{"episode_index": 27, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2014}
+{"episode_index": 28, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2017}
+{"episode_index": 29, "tasks": ["Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."], "length": 2180}

place_coffee_filter_in_dripper/season_POC22032_2026_05_08_16_53_35_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -1,13 +1,13 @@
-{"subtask_index": 0, "subtask": "Pick up the first pen from the table. | Skill: pick"}
-{"subtask_index": 1, "subtask": "Move the first pen above the pen holder. | Skill: move"}
-{"subtask_index": 2, "subtask": "Place the first pen into the pen holder. | Skill: place"}
-{"subtask_index": 3, "subtask": "Pick up the second pen from the table. | Skill: pick"}
-{"subtask_index": 4, "subtask": "Move the second pen above the pen holder. | Skill: move"}
-{"subtask_index": 5, "subtask": "Place the second pen into the pen holder. | Skill: place"}
-{"subtask_index": 6, "subtask": "Pick up the third pen from the table. | Skill: pick"}
-{"subtask_index": 7, "subtask": "Move the third pen above the pen holder. | Skill: move"}
-{"subtask_index": 8, "subtask": "Place the third pen into the pen holder. | Skill: place"}
-{"subtask_index": 9, "subtask": "Pick up the fourth pen from the table. | Skill: pick"}
-{"subtask_index": 10, "subtask": "Move the fourth pen above the pen holder. | Skill: move"}
-{"subtask_index": 11, "subtask": "Place the fourth pen into the pen holder. | Skill: place"}
-{"subtask_index": 12, "subtask": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"subtask_index": 0, "subtask": "Pick up the coffee pot with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Place the coffee pot in front of the robot. | Skill: place"}
+{"subtask_index": 2, "subtask": "Pick up the dripper tray with the left hand. | Skill: pick"}
+{"subtask_index": 3, "subtask": "Place the dripper tray on top of the coffee pot. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the coffee dripper with the left hand. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Flip the coffee dripper with both hands to the correct orientation. | Skill: flip"}
+{"subtask_index": 6, "subtask": "Place the coffee dripper on the dripper tray. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up one folded coffee filter with the right hand. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Open the folded coffee filter with both hands. | Skill: open"}
+{"subtask_index": 9, "subtask": "Smooth and flatten the opened coffee filter with both hands. | Skill: adjust"}
+{"subtask_index": 10, "subtask": "Insert the coffee filter into the dripper. | Skill: insert"}
+{"subtask_index": 11, "subtask": "Press and adjust the filter so it sits smoothly inside the dripper. | Skill: press"}
+{"subtask_index": 12, "subtask": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22032_2026_05_08_16_53_35_train/lerobot_v2.1/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Task: Pen Collection into Pen Holder | Instruction: Pick up the first pen, move it above the pen holder, and place it into the pen holder. Then pick up the second pen, move it above the pen holder, and place it into the pen holder. Next, pick up the third pen, move it above the pen holder, and place it into the pen holder. Finally, pick up the fourth pen, move it above the pen holder, and place it into the pen holder. | Scene: Four pens and a pen holder are scattered on the table. The robot needs to collect the pens one by one and place them neatly into the pen holder. | Success: All four pens are inside the pen holder and arranged neatly in a stable state."}
+{"task_index": 0, "task": "Task: Place Coffee Filter into Dripper | Instruction: Pick up the coffee pot with the right hand and place it in front of the robot. Pick up the dripper tray with the left hand and place it on the coffee pot. Pick up the coffee dripper with the left hand. Flip the dripper with both hands and place it on the tray. Pick up one folded coffee filter with the right hand. Open the filter with both hands, smooth it flat, and place it into the dripper. | Scene: A coffee pot, dripper tray, coffee dripper, and folded cone coffee filters are on the table. The robot needs to assemble the pot-tray-dripper stack, open and smooth one filter, and place the filter neatly inside the dripper. | Success: The coffee pot is positioned in front of the robot, the tray is seated on the pot, the dripper is correctly oriented and stable on the tray, and one opened, smoothed coffee filter is seated inside the dripper."}

place_coffee_filter_in_dripper/season_POC22032_2026_05_08_16_53_35_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4ef21f408f48c83559e940ab32ffa984067cda77cc6db010b554bbe6e1e03ab5
-size 877144
+oid sha256:47d2bee21d949ec37ee48fda124f417312e604c2a6f987ba1b7a7a18182c028b
+size 880468

place_coffee_filter_in_dripper/season_POC22032_2026_05_08_16_53_35_train/lerobot_v3.0/meta/subtasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:283c8e33e80d4c5c37b484a173715cf8a0bee663905c2ec9c6444c7cc74d249a
-size 3752
+oid sha256:ba576b59517bb8485b861b0fef255f2adacf7ec8dc60e1a01dbc7420044e6d19
+size 4533