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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 825, "end_step": 973, "id": "AjqgcMgLOyBmguYK08NG_"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": 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"subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 24}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": 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"text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26}
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"f740824b-bad3-43cb-9676-4029653165c4"}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 820, "end_step": 1134, "id": "f43a0f63-a3b7-44ce-8eb2-eb2e29bf9c3e"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1135, "end_step": 1290, "id": "6f7379af-8363-4ed9-935a-f1f0c822381c"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1291, "end_step": 1554, "id": "dac52921-cfd5-418f-ac9d-a19640477fc7"}, {"label": "goal", "start_step": 1555, "end_step": 1575, "id": "4bbfdf8e-e58c-4748-b6eb-03d3437c70b4"}, {"label": "home", "start_step": 1563, "end_step": 1710, "id": "r2K9obeGYtvdPvoTEsWPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both 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"subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 29}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1381, "id": "S3r39pe1iI2lZ8YNje1Kq"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1251, "id": "TEhchxTymMJ1RfA7zOtS2"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1252, "end_step": 1399, "id": "9gXOYLsMvUtd8eFn1oUwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34}
+{"source_uid": "6d6ee8c51ae4f4f2", "num_frames": 1436, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1286, "id": "T7qMUHtJG36ua7nyRdL4p"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": "f86rNYwhB0okHWJs_6pc7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36}
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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": 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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52}
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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": 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"atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 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diff --git a/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/annotations.jsonl b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..681e9dd65dc66d3ba44ace08f01549160f86fd83
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,134 @@
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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": 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[]}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "9a6a1f9f-aefc-496b-91fc-ed0ac4dd6a9e"}, {"label": "valid", "start_step": 0, "end_step": 1562, "id": "Gu3BnZ1C8BPXTRzIRwtLV"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "goal", "start_step": 175, "end_step": 819, "id": "f740824b-bad3-43cb-9676-4029653165c4"}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 820, "end_step": 1134, "id": "f43a0f63-a3b7-44ce-8eb2-eb2e29bf9c3e"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1135, "end_step": 1290, "id": "6f7379af-8363-4ed9-935a-f1f0c822381c"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1291, "end_step": 1554, "id": "dac52921-cfd5-418f-ac9d-a19640477fc7"}, {"label": "goal", "start_step": 1555, "end_step": 1575, "id": "4bbfdf8e-e58c-4748-b6eb-03d3437c70b4"}, {"label": "home", "start_step": 1563, "end_step": 1710, "id": "r2K9obeGYtvdPvoTEsWPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 29}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1251, "id": "TEhchxTymMJ1RfA7zOtS2"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1252, "end_step": 1399, "id": "9gXOYLsMvUtd8eFn1oUwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": "f86rNYwhB0okHWJs_6pc7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36}
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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": 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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52}
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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": 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"atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 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+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
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+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
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+                480,
+                3
+            ],
+            "names": [
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+                "channels"
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+            "info": {
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "video.channels": 3,
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+            }
+        },
+        "observation.tactile": {
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+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/modality.json b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/stats.json b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..973cc94696c3145a8814f3ebaef8959b7dba9f66
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 801, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1092, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1155, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1218, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1248, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1344, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1482, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1506, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 429, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 516, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 615, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 801, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1092, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1155, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1218, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1248, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1344, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1482, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1506, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
diff --git a/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/annotations.jsonl b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c580902a41885df918a8e4c0f6d44bed3438211
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,31 @@
+{"source_uid": "977805d2ab41ca11", "num_frames": 3746, "episode_id": "POC22027_2026_05_17_19_39_20_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_17_19_39_20_train/POC22027_2026_05_17_19_39_20_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_17_19_39_20_train/POC22027_2026_05_17_19_39_20_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_17_19_39_20_train/POC22027_2026_05_17_19_39_20_train/train_0.3.0@2026_05_17_19_39_20.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 306, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 888, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 2139, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 2140, "end_step": 2667, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 2668, "end_step": 3496, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 3497, "end_step": 3637, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 306, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 888, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 2139, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 2140, "end_step": 2667, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 2668, "end_step": 3496, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 3497, "end_step": 3637, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 255, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 528, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 633, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 699, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 801, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1092, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1179, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1180, "end_step": 1227, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1308, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1398, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1554, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1587, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 255, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 528, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 633, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 699, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 801, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1092, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1179, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1180, "end_step": 1227, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1308, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1398, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1554, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1587, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
+{"source_uid": "6922f80a3ca48db7", "num_frames": 1651, "episode_id": "POC22027_2026_05_17_20_39_15_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_17_19_39_20_train/POC22027_2026_05_17_20_39_15_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_17_19_39_20_train/POC22027_2026_05_17_20_39_15_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_17_19_39_20_train/POC22027_2026_05_17_20_39_15_train/train_0.3.0@2026_05_17_20_39_15.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 429, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 516, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 615, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 801, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1092, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1155, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1218, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1248, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1344, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1482, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1506, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 429, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 516, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 615, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 801, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1092, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1155, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1218, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1248, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1344, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1482, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1506, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
diff --git a/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/episodes.jsonl b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0a7672e3031c5d03be912cf07cd5be958396e4a6
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,31 @@
+{"episode_index": 0, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 3746}
+{"episode_index": 1, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 3083}
+{"episode_index": 2, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2669}
+{"episode_index": 3, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2683}
+{"episode_index": 4, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 3238}
+{"episode_index": 5, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2614}
+{"episode_index": 6, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 3265}
+{"episode_index": 7, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2992}
+{"episode_index": 8, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2406}
+{"episode_index": 9, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 3148}
+{"episode_index": 10, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2324}
+{"episode_index": 11, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2721}
+{"episode_index": 12, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2756}
+{"episode_index": 13, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2481}
+{"episode_index": 14, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 3024}
+{"episode_index": 15, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2064}
+{"episode_index": 16, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2158}
+{"episode_index": 17, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2017}
+{"episode_index": 18, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2032}
+{"episode_index": 19, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2107}
+{"episode_index": 20, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2161}
+{"episode_index": 21, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 1903}
+{"episode_index": 22, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 1960}
+{"episode_index": 23, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 1804}
+{"episode_index": 24, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 2309}
+{"episode_index": 25, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 1751}
+{"episode_index": 26, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 1818}
+{"episode_index": 27, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 1883}
+{"episode_index": 28, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 1733}
+{"episode_index": 29, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 1728}
+{"episode_index": 30, "tasks": ["Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."], "length": 1651}
diff --git a/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90bc9a24f1313a1201adae9363b3ee687fb27bf7
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,31 @@
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diff --git a/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/info.json b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..366f21201fc6935372c227a5aff8531419e0511f
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/modality.json b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/subtasks.jsonl b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..310e7d455a9452ea8f126d7d989625df365c416c
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,21 @@
+{"subtask_index": 0, "subtask": "Pick up the flat paper box with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the flat paper box into a three-dimensional box. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fold the four flaps on the first side of the paper box inward. | Skill: fold"}
+{"subtask_index": 3, "subtask": "Flip the paper box over. | Skill: flip"}
+{"subtask_index": 4, "subtask": "Fold the two vertical side flaps inward. | Skill: fold"}
+{"subtask_index": 5, "subtask": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold"}
+{"subtask_index": 6, "subtask": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."}
+{"subtask_index": 7, "subtask": "Pick up the flat box from the table with both hands. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open"}
+{"subtask_index": 9, "subtask": "Fold the first inner flap inward. | Skill: fold"}
+{"subtask_index": 10, "subtask": "Fold the second inner flap inward. | Skill: fold"}
+{"subtask_index": 11, "subtask": "Fold the third inner flap inward. | Skill: fold"}
+{"subtask_index": 12, "subtask": "Fold the fourth inner flap inward. | Skill: fold"}
+{"subtask_index": 13, "subtask": "Flip the box over with both hands. | Skill: flip"}
+{"subtask_index": 14, "subtask": "Fold the left side flap inward. | Skill: fold"}
+{"subtask_index": 15, "subtask": "Fold the right side flap inward. | Skill: fold"}
+{"subtask_index": 16, "subtask": "Stabilize the box with the right hand. | Skill: stabilize"}
+{"subtask_index": 17, "subtask": "Fold the top flap inward with the left hand. | Skill: fold"}
+{"subtask_index": 18, "subtask": "Fold the bottom flap inward with the left hand. | Skill: fold"}
+{"subtask_index": 19, "subtask": "Place the folded box stably on the table with both hands. | Skill: place"}
+{"subtask_index": 20, "subtask": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."}
diff --git a/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/tasks.jsonl b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..32bfdf15bb446051d63d828edefeafbf3a020f3a
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."}
+{"task_index": 1, "task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table."}
diff --git a/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/v40_validation.json b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..73c196496334a8eab4b6703b7ca3968bb11681f4
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 31,
+  "frames": 74229,
+  "video_frames": {
+    "observation.images.head_left": 74229,
+    "observation.images.wrist_left": 74229,
+    "observation.images.wrist_right": 74229,
+    "observation.images.head_right": 74229,
+    "observation.images.tactile_deform": 74229,
+    "observation.images.tactile_raw": 74229
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 31
+}
diff --git a/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/fold_and_close_box/season_POC22027_2026_05_17_19_39_20_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
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