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diff --git a/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/annotations.jsonl b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6156c247ff0e63ed13eab0c17b1de14ecaf07ba3
--- /dev/null
+++ b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,237 @@
+{"source_uid": "47738907f8cd1805", "num_frames": 699, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 181, "id": "subtask-001", "text": "Pick up the spoon from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 182, "end_step": 456, "id": "subtask-002", "text": "Scoop one spoonful of salt from the right cup with the right hand. | Skill: scoop", "task_skill": "scoop", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 626, "id": "subtask-003", "text": "Tip the spoon and pour the salt into the left empty cup with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 698, "id": "subtask-004", "text": "Place the spoon back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 181, "id": "subtask-001", "text": "Pick up the spoon from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 182, "end_step": 456, "id": "subtask-002", "text": "Scoop one spoonful of salt from the right cup with the right hand. | Skill: scoop", "task_skill": "scoop", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 626, "id": "subtask-003", "text": "Tip the spoon and pour the salt into the left empty cup with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 698, "id": "subtask-004", "text": "Place the spoon back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Scoop_Salt_into_Cup/season_POC22048_2026_06_04_19_38_54_train/POC22048_2026_06_04_19_38_54_train/anno.json", "tags": {"task_name": "Scoop Salt into Cup", "task_instruction": "Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table.", "scene_description": "A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup.", "success_criteria": "One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_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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+{"source_uid": "1453d228f0c34d9b", "num_frames": 496, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the spoon from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 340, "id": "subtask-002", "text": "Scoop one spoonful of salt from the right cup with the right hand. | Skill: scoop", "task_skill": "scoop", "atomic_action": []}, {"label": "subtasks", "start_step": 341, "end_step": 432, "id": "subtask-003", "text": "Tip the spoon and pour the salt into the left empty cup with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 495, "id": "subtask-004", "text": "Place the spoon back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the spoon from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 340, "id": "subtask-002", "text": "Scoop one spoonful of salt from the right cup with the right hand. | Skill: scoop", "task_skill": "scoop", "atomic_action": []}, {"label": "subtasks", "start_step": 341, "end_step": 432, "id": "subtask-003", "text": "Tip the spoon and pour the salt into the left empty cup with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 495, "id": "subtask-004", "text": "Place the spoon back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Scoop_Salt_into_Cup/season_POC22048_2026_06_04_19_38_54_train/POC22048_2026_06_04_21_21_10_train/anno.json", "tags": {"task_name": "Scoop Salt into Cup", "task_instruction": "Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table.", "scene_description": "A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup.", "success_criteria": "One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 237, "v40_language_source": "previous_published_lerobot", "episode_index": 234}
+{"source_uid": "8e8e0bb3199e8ff3", "num_frames": 626, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the spoon from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 416, "id": "subtask-002", "text": "Scoop one spoonful of salt from the right cup with the right hand. | Skill: scoop", "task_skill": "scoop", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 558, "id": "subtask-003", "text": "Tip the spoon and pour the salt into the left empty cup with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 625, "id": "subtask-004", "text": "Place the spoon back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the spoon from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 416, "id": "subtask-002", "text": "Scoop one spoonful of salt from the right cup with the right hand. | Skill: scoop", "task_skill": "scoop", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 558, "id": "subtask-003", "text": "Tip the spoon and pour the salt into the left empty cup with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 625, "id": "subtask-004", "text": "Place the spoon back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Scoop_Salt_into_Cup/season_POC22048_2026_06_04_19_38_54_train/POC22048_2026_06_04_21_21_30_train/anno.json", "tags": {"task_name": "Scoop Salt into Cup", "task_instruction": "Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table.", "scene_description": "A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup.", "success_criteria": "One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 238, "v40_language_source": "previous_published_lerobot", "episode_index": 235}
+{"source_uid": "3f7c107359f6ae2b", "num_frames": 713, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the spoon from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 469, "id": "subtask-002", "text": "Scoop one spoonful of salt from the right cup with the right hand. | Skill: scoop", "task_skill": "scoop", "atomic_action": []}, {"label": "subtasks", "start_step": 470, "end_step": 631, "id": "subtask-003", "text": "Tip the spoon and pour the salt into the left empty cup with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 632, "end_step": 712, "id": "subtask-004", "text": "Place the spoon back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the spoon from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 469, "id": "subtask-002", "text": "Scoop one spoonful of salt from the right cup with the right hand. | Skill: scoop", "task_skill": "scoop", "atomic_action": []}, {"label": "subtasks", "start_step": 470, "end_step": 631, "id": "subtask-003", "text": "Tip the spoon and pour the salt into the left empty cup with the right hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 632, "end_step": 712, "id": "subtask-004", "text": "Place the spoon back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Scoop_Salt_into_Cup/season_POC22048_2026_06_04_19_38_54_train/POC22048_2026_06_04_21_22_15_train/anno.json", "tags": {"task_name": "Scoop Salt into Cup", "task_instruction": "Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table.", "scene_description": "A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup.", "success_criteria": "One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 239, "v40_language_source": "previous_published_lerobot", "episode_index": 236}
diff --git a/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/episodes.jsonl b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d71987b74eb49283d5f1a69e292882ea18f08d9
--- /dev/null
+++ b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,237 @@
+{"episode_index": 0, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 699}
+{"episode_index": 1, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 554}
+{"episode_index": 2, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 545}
+{"episode_index": 3, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 509}
+{"episode_index": 4, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 494}
+{"episode_index": 5, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 621}
+{"episode_index": 6, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 460}
+{"episode_index": 7, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 614}
+{"episode_index": 8, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 624}
+{"episode_index": 9, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 560}
+{"episode_index": 10, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 541}
+{"episode_index": 11, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 638}
+{"episode_index": 12, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 514}
+{"episode_index": 13, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 527}
+{"episode_index": 14, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 500}
+{"episode_index": 15, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 513}
+{"episode_index": 16, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 514}
+{"episode_index": 17, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 529}
+{"episode_index": 18, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 668}
+{"episode_index": 19, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 528}
+{"episode_index": 20, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 591}
+{"episode_index": 21, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 517}
+{"episode_index": 22, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 521}
+{"episode_index": 23, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 477}
+{"episode_index": 24, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 574}
+{"episode_index": 25, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 562}
+{"episode_index": 26, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 581}
+{"episode_index": 27, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 496}
+{"episode_index": 28, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 564}
+{"episode_index": 29, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 498}
+{"episode_index": 30, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 587}
+{"episode_index": 31, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 620}
+{"episode_index": 32, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 460}
+{"episode_index": 33, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 496}
+{"episode_index": 34, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 514}
+{"episode_index": 35, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 535}
+{"episode_index": 36, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 574}
+{"episode_index": 37, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 654}
+{"episode_index": 38, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 671}
+{"episode_index": 39, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 566}
+{"episode_index": 40, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 655}
+{"episode_index": 41, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 583}
+{"episode_index": 42, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 682}
+{"episode_index": 43, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 540}
+{"episode_index": 44, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 519}
+{"episode_index": 45, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 510}
+{"episode_index": 46, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 526}
+{"episode_index": 47, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 566}
+{"episode_index": 48, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 597}
+{"episode_index": 49, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 575}
+{"episode_index": 50, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 582}
+{"episode_index": 51, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 523}
+{"episode_index": 52, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 546}
+{"episode_index": 53, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 599}
+{"episode_index": 54, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 588}
+{"episode_index": 55, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 565}
+{"episode_index": 56, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 628}
+{"episode_index": 57, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 565}
+{"episode_index": 58, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 535}
+{"episode_index": 59, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 627}
+{"episode_index": 60, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 677}
+{"episode_index": 61, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 644}
+{"episode_index": 62, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 762}
+{"episode_index": 63, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 692}
+{"episode_index": 64, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 574}
+{"episode_index": 65, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 651}
+{"episode_index": 66, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 627}
+{"episode_index": 67, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 569}
+{"episode_index": 68, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 628}
+{"episode_index": 69, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 603}
+{"episode_index": 70, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 549}
+{"episode_index": 71, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 621}
+{"episode_index": 72, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 619}
+{"episode_index": 73, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 526}
+{"episode_index": 74, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 556}
+{"episode_index": 75, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 504}
+{"episode_index": 76, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 541}
+{"episode_index": 77, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 561}
+{"episode_index": 78, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 568}
+{"episode_index": 79, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 554}
+{"episode_index": 80, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 581}
+{"episode_index": 81, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 614}
+{"episode_index": 82, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 520}
+{"episode_index": 83, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 587}
+{"episode_index": 84, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 605}
+{"episode_index": 85, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 722}
+{"episode_index": 86, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 613}
+{"episode_index": 87, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 556}
+{"episode_index": 88, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 568}
+{"episode_index": 89, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 662}
+{"episode_index": 90, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 670}
+{"episode_index": 91, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 636}
+{"episode_index": 92, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 579}
+{"episode_index": 93, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 520}
+{"episode_index": 94, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 541}
+{"episode_index": 95, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 576}
+{"episode_index": 96, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 569}
+{"episode_index": 97, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 549}
+{"episode_index": 98, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 566}
+{"episode_index": 99, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 609}
+{"episode_index": 100, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 638}
+{"episode_index": 101, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 508}
+{"episode_index": 102, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 646}
+{"episode_index": 103, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 603}
+{"episode_index": 104, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 502}
+{"episode_index": 105, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 662}
+{"episode_index": 106, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 566}
+{"episode_index": 107, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 648}
+{"episode_index": 108, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 568}
+{"episode_index": 109, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 519}
+{"episode_index": 110, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 540}
+{"episode_index": 111, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 564}
+{"episode_index": 112, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 601}
+{"episode_index": 113, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 558}
+{"episode_index": 114, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 563}
+{"episode_index": 115, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 642}
+{"episode_index": 116, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 594}
+{"episode_index": 117, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 626}
+{"episode_index": 118, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 604}
+{"episode_index": 119, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 552}
+{"episode_index": 120, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 522}
+{"episode_index": 121, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 572}
+{"episode_index": 122, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 753}
+{"episode_index": 123, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 612}
+{"episode_index": 124, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 601}
+{"episode_index": 125, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 603}
+{"episode_index": 126, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 626}
+{"episode_index": 127, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 621}
+{"episode_index": 128, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 524}
+{"episode_index": 129, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 757}
+{"episode_index": 130, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 503}
+{"episode_index": 131, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 595}
+{"episode_index": 132, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 607}
+{"episode_index": 133, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 607}
+{"episode_index": 134, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 583}
+{"episode_index": 135, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 572}
+{"episode_index": 136, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 556}
+{"episode_index": 137, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 618}
+{"episode_index": 138, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 670}
+{"episode_index": 139, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 555}
+{"episode_index": 140, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 614}
+{"episode_index": 141, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 680}
+{"episode_index": 142, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 595}
+{"episode_index": 143, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 598}
+{"episode_index": 144, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 560}
+{"episode_index": 145, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 568}
+{"episode_index": 146, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 558}
+{"episode_index": 147, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 574}
+{"episode_index": 148, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 576}
+{"episode_index": 149, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 607}
+{"episode_index": 150, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 555}
+{"episode_index": 151, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 556}
+{"episode_index": 152, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 539}
+{"episode_index": 153, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 490}
+{"episode_index": 154, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 585}
+{"episode_index": 155, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 559}
+{"episode_index": 156, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 531}
+{"episode_index": 157, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 505}
+{"episode_index": 158, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 473}
+{"episode_index": 159, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 525}
+{"episode_index": 160, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 481}
+{"episode_index": 161, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 513}
+{"episode_index": 162, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 592}
+{"episode_index": 163, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 654}
+{"episode_index": 164, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 520}
+{"episode_index": 165, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 556}
+{"episode_index": 166, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 536}
+{"episode_index": 167, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 544}
+{"episode_index": 168, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 584}
+{"episode_index": 169, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 630}
+{"episode_index": 170, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 541}
+{"episode_index": 171, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 557}
+{"episode_index": 172, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 588}
+{"episode_index": 173, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 538}
+{"episode_index": 174, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 549}
+{"episode_index": 175, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 605}
+{"episode_index": 176, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 569}
+{"episode_index": 177, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 588}
+{"episode_index": 178, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 505}
+{"episode_index": 179, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 581}
+{"episode_index": 180, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 497}
+{"episode_index": 181, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 517}
+{"episode_index": 182, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 521}
+{"episode_index": 183, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 572}
+{"episode_index": 184, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 576}
+{"episode_index": 185, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 493}
+{"episode_index": 186, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 518}
+{"episode_index": 187, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 502}
+{"episode_index": 188, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 599}
+{"episode_index": 189, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 540}
+{"episode_index": 190, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 587}
+{"episode_index": 191, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 547}
+{"episode_index": 192, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 505}
+{"episode_index": 193, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 551}
+{"episode_index": 194, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 564}
+{"episode_index": 195, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 481}
+{"episode_index": 196, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 517}
+{"episode_index": 197, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 490}
+{"episode_index": 198, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 522}
+{"episode_index": 199, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 561}
+{"episode_index": 200, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 504}
+{"episode_index": 201, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 582}
+{"episode_index": 202, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 558}
+{"episode_index": 203, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 494}
+{"episode_index": 204, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 523}
+{"episode_index": 205, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 550}
+{"episode_index": 206, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 546}
+{"episode_index": 207, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 541}
+{"episode_index": 208, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 655}
+{"episode_index": 209, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 524}
+{"episode_index": 210, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 475}
+{"episode_index": 211, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 527}
+{"episode_index": 212, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 546}
+{"episode_index": 213, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 500}
+{"episode_index": 214, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 468}
+{"episode_index": 215, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 543}
+{"episode_index": 216, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 481}
+{"episode_index": 217, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 485}
+{"episode_index": 218, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 557}
+{"episode_index": 219, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 538}
+{"episode_index": 220, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 544}
+{"episode_index": 221, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 494}
+{"episode_index": 222, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 526}
+{"episode_index": 223, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 480}
+{"episode_index": 224, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 580}
+{"episode_index": 225, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 504}
+{"episode_index": 226, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 459}
+{"episode_index": 227, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 510}
+{"episode_index": 228, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 564}
+{"episode_index": 229, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 648}
+{"episode_index": 230, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 575}
+{"episode_index": 231, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 542}
+{"episode_index": 232, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 593}
+{"episode_index": 233, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 516}
+{"episode_index": 234, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 496}
+{"episode_index": 235, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 626}
+{"episode_index": 236, "tasks": ["Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."], "length": 713}
diff --git a/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/episodes_stats.jsonl b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb89f92f3dc01cec07a238e0be6cd563471383d4
--- /dev/null
+++ b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,237 @@
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diff --git a/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/info.json b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a99f59103d62b4c204fd3fec37e1f3d5ce0023f2
--- /dev/null
+++ b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "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"
+            ],
+            "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/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/modality.json b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_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/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/subtasks.jsonl b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..abb4e2663e0cc9ee094c65e82f3f9bc0d8f46cc0
--- /dev/null
+++ b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,4 @@
+{"subtask_index": 0, "subtask": "Pick up the spoon from the table with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Scoop one spoonful of salt from the right cup with the right hand. | Skill: scoop"}
+{"subtask_index": 2, "subtask": "Tip the spoon and pour the salt into the left empty cup with the right hand. | Skill: tip"}
+{"subtask_index": 3, "subtask": "Place the spoon back on the table with the right hand. | Skill: place"}
diff --git a/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/tasks.jsonl b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf07705c8d41dc314008db5ac85ecdb3c59ef362
--- /dev/null
+++ b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Scoop Salt into Cup | Instruction: Pick up the spoon with the right hand. Scoop one spoonful of salt from the cup on the right. Then tip the salt into the empty cup on the left. Finally, place the spoon back on the table. | Scene: A spoon, a cup containing salt on the right, and an empty cup on the left are placed on the table. The robot needs to scoop one spoonful of salt from the right cup and transfer it into the left cup. | Success: One spoonful of salt is transferred from the right cup into the left empty cup, and the spoon is placed back stably on the table."}
diff --git a/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/v40_validation.json b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3e17cfd59ecb7fa86bc55b7497cdfec29cb1725
--- /dev/null
+++ b/transfer_salt_between_cups_with_spoon/season_POC22048_2026_06_04_19_38_54_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 237,
+  "frames": 134457,
+  "video_frames": {
+    "observation.images.head_left": 134457,
+    "observation.images.wrist_left": 134457,
+    "observation.images.wrist_right": 134457,
+    "observation.images.head_right": 134457,
+    "observation.images.tactile_deform": 134457,
+    "observation.images.tactile_raw": 134457
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 237
+}
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