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+{"source_uid": "ed0ad7909a810108", "num_frames": 481, "episode_id": "POC22050_2026_06_04_14_26_49_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_49_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_49_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_49_train/train_0.3.0@2026_06_04_14_26_49.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 131, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 132, "end_step": 189, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 314, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 414, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 131, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 132, "end_step": 189, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 314, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 414, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 79, "v40_language_source": "previous_published_lerobot", "episode_index": 78}
+{"source_uid": "7f18c8e45b8b1426", "num_frames": 524, "episode_id": "POC22050_2026_06_04_14_27_15_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_15_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_15_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_15_train/train_0.3.0@2026_06_04_14_27_15.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 197, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 198, "end_step": 349, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 350, "end_step": 451, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 197, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 198, "end_step": 349, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 350, "end_step": 451, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 80, "v40_language_source": "previous_published_lerobot", "episode_index": 79}
+{"source_uid": "a8d3eb47d3734238", "num_frames": 474, "episode_id": "POC22050_2026_06_04_14_27_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_43_train/train_0.3.0@2026_06_04_14_27_43.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 137, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 138, "end_step": 187, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 300, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 405, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 137, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 138, "end_step": 187, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 300, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 405, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 81, "v40_language_source": "previous_published_lerobot", "episode_index": 80}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotations.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e7d8efffe6e104c1eca817dba71a352d14d7ba6
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,81 @@
+{"source_uid": "fbd9523ebd60ac4b", "num_frames": 593, "episode_id": "POC22050_2026_06_04_13_51_03_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_13_51_03_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_13_51_03_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_13_51_03_train/train_0.3.0@2026_06_04_13_51_03.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 247, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 401, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 402, "end_step": 517, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 247, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 401, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 402, "end_step": 517, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "26e147d13b3037e4", "num_frames": 467, "episode_id": "POC22050_2026_06_04_13_51_50_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_13_51_50_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_13_51_50_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_13_51_50_train/train_0.3.0@2026_06_04_13_51_50.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 135, "end_step": 185, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 186, "end_step": 276, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 396, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 135, "end_step": 185, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 186, "end_step": 276, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 396, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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+{"source_uid": "38da4ffe73ca7362", "num_frames": 476, "episode_id": "POC22050_2026_06_04_14_26_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_26_train/train_0.3.0@2026_06_04_14_26_26.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 184, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 185, "end_step": 310, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 413, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 126, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 127, "end_step": 184, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 185, "end_step": 310, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 413, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 78, "v40_language_source": "previous_published_lerobot", "episode_index": 77}
+{"source_uid": "ed0ad7909a810108", "num_frames": 481, "episode_id": "POC22050_2026_06_04_14_26_49_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_49_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_49_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_49_train/train_0.3.0@2026_06_04_14_26_49.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 131, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 132, "end_step": 189, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 314, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 414, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 131, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 132, "end_step": 189, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 314, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 414, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 79, "v40_language_source": "previous_published_lerobot", "episode_index": 78}
+{"source_uid": "7f18c8e45b8b1426", "num_frames": 524, "episode_id": "POC22050_2026_06_04_14_27_15_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_15_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_15_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_15_train/train_0.3.0@2026_06_04_14_27_15.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 197, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 198, "end_step": 349, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 350, "end_step": 451, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 197, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 198, "end_step": 349, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 350, "end_step": 451, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 80, "v40_language_source": "previous_published_lerobot", "episode_index": 79}
+{"source_uid": "a8d3eb47d3734238", "num_frames": 474, "episode_id": "POC22050_2026_06_04_14_27_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_43_train/train_0.3.0@2026_06_04_14_27_43.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 137, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 138, "end_step": 187, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 300, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 405, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 137, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 138, "end_step": 187, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 300, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 405, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 81, "v40_language_source": "previous_published_lerobot", "episode_index": 80}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/episodes.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2629be6a2547ffd522c831d25ab128412f24e457
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,81 @@
+{"episode_index": 0, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 593}
+{"episode_index": 1, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 467}
+{"episode_index": 2, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 510}
+{"episode_index": 3, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 511}
+{"episode_index": 4, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 542}
+{"episode_index": 5, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 519}
+{"episode_index": 6, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 502}
+{"episode_index": 7, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 512}
+{"episode_index": 8, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 495}
+{"episode_index": 9, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 469}
+{"episode_index": 10, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 509}
+{"episode_index": 11, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 573}
+{"episode_index": 12, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 521}
+{"episode_index": 13, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 522}
+{"episode_index": 14, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 525}
+{"episode_index": 15, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 532}
+{"episode_index": 16, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 528}
+{"episode_index": 17, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 534}
+{"episode_index": 18, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 498}
+{"episode_index": 19, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 499}
+{"episode_index": 20, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 523}
+{"episode_index": 21, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 564}
+{"episode_index": 22, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 533}
+{"episode_index": 23, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 517}
+{"episode_index": 24, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 531}
+{"episode_index": 25, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 512}
+{"episode_index": 26, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 514}
+{"episode_index": 27, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 479}
+{"episode_index": 28, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 471}
+{"episode_index": 29, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 471}
+{"episode_index": 30, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 531}
+{"episode_index": 31, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 563}
+{"episode_index": 32, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 555}
+{"episode_index": 33, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 537}
+{"episode_index": 34, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 539}
+{"episode_index": 35, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 530}
+{"episode_index": 36, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 556}
+{"episode_index": 37, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 574}
+{"episode_index": 38, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 514}
+{"episode_index": 39, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 586}
+{"episode_index": 40, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 512}
+{"episode_index": 41, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 454}
+{"episode_index": 42, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 491}
+{"episode_index": 43, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 480}
+{"episode_index": 44, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 480}
+{"episode_index": 45, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 520}
+{"episode_index": 46, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 495}
+{"episode_index": 47, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 506}
+{"episode_index": 48, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 477}
+{"episode_index": 49, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 449}
+{"episode_index": 50, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 496}
+{"episode_index": 51, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 557}
+{"episode_index": 52, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 609}
+{"episode_index": 53, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 532}
+{"episode_index": 54, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 550}
+{"episode_index": 55, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 506}
+{"episode_index": 56, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 491}
+{"episode_index": 57, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 484}
+{"episode_index": 58, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 493}
+{"episode_index": 59, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 507}
+{"episode_index": 60, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 643}
+{"episode_index": 61, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 568}
+{"episode_index": 62, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 501}
+{"episode_index": 63, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 479}
+{"episode_index": 64, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 487}
+{"episode_index": 65, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 607}
+{"episode_index": 66, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 511}
+{"episode_index": 67, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 552}
+{"episode_index": 68, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 543}
+{"episode_index": 69, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 481}
+{"episode_index": 70, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 433}
+{"episode_index": 71, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 469}
+{"episode_index": 72, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 606}
+{"episode_index": 73, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 571}
+{"episode_index": 74, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 533}
+{"episode_index": 75, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 512}
+{"episode_index": 76, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 461}
+{"episode_index": 77, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 476}
+{"episode_index": 78, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 481}
+{"episode_index": 79, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 524}
+{"episode_index": 80, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 474}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/episodes_stats.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cad82f7889944542cd25f3647c0a0fdd7ba79d8c
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,81 @@
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diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/info.json b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f07049ea6f4167d7cd685fc252214870799f76c
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "total_videos": 486,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:81"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+            "dtype": "float32",
+            "shape": [
+                65
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+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
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+                "left_arm_j3",
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+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
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+                "left_hand_j15",
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+                "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",
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+                "right_hand_j12",
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+                "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.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "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_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/modality.json b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_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_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/subtasks.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d15b23bc7924cd2a69c009bff74d1c8ab55b57b
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the empty cup on the left with the right hand | Skill: pick"}
+{"subtask_index": 1, "subtask": "Pick up the cup containing pills on the right with the left hand | Skill: pick"}
+{"subtask_index": 2, "subtask": "Pour the pills from the right cup into the left cup | Skill: pour"}
+{"subtask_index": 3, "subtask": "Place both cups back on the table in an upright position | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/tasks.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..92a441d44f92a32f0f135e376780d30cfbf3133d
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/v40_validation.json b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e07a1b615f821243b06b9b79950a11e90685f87
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 81,
+  "frames": 41962,
+  "video_frames": {
+    "observation.images.head_left": 41962,
+    "observation.images.wrist_left": 41962,
+    "observation.images.wrist_right": 41962,
+    "observation.images.head_right": 41962,
+    "observation.images.tactile_deform": 41962,
+    "observation.images.tactile_raw": 41962
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 81
+}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07c11701cee2ef9ffdf96b786ba3d803203e8cce
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd61f510bc674fda4c99d403f1e5fab19a10e24c01fd7a83401fc62aa010a75d
+size 10347109
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+{"source_uid": "ed0ad7909a810108", "num_frames": 481, "episode_id": "POC22050_2026_06_04_14_26_49_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_49_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_49_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_26_49_train/train_0.3.0@2026_06_04_14_26_49.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 131, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 132, "end_step": 189, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 314, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 414, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 131, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 132, "end_step": 189, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 314, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 414, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 79, "v40_language_source": "previous_published_lerobot", "episode_index": 78}
+{"source_uid": "7f18c8e45b8b1426", "num_frames": 524, "episode_id": "POC22050_2026_06_04_14_27_15_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_15_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_15_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_15_train/train_0.3.0@2026_06_04_14_27_15.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 197, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 198, "end_step": 349, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 350, "end_step": 451, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 132, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 133, "end_step": 197, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 198, "end_step": 349, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 350, "end_step": 451, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 80, "v40_language_source": "previous_published_lerobot", "episode_index": 79}
+{"source_uid": "a8d3eb47d3734238", "num_frames": 474, "episode_id": "POC22050_2026_06_04_14_27_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_14_27_43_train/train_0.3.0@2026_06_04_14_27_43.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 137, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 138, "end_step": 187, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 300, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 405, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 137, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 138, "end_step": 187, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 300, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 405, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 81, "v40_language_source": "previous_published_lerobot", "episode_index": 80}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v3.0/meta/annotations.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e7d8efffe6e104c1eca817dba71a352d14d7ba6
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,81 @@
+{"source_uid": "fbd9523ebd60ac4b", "num_frames": 593, "episode_id": "POC22050_2026_06_04_13_51_03_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_13_51_03_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_13_51_03_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_13_51_03_train/POC22050_2026_06_04_13_51_03_train/train_0.3.0@2026_06_04_13_51_03.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 247, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 401, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 402, "end_step": 517, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 247, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 401, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 402, "end_step": 517, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_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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+            ],
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+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                480,
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+            "names": [
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "video.codec": "h264",
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+                "left_thumb_fy",
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+                "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": [
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+                "width",
+                "channels"
+            ],
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
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+                1600,
+                3
+            ],
+            "names": [
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+                "channels"
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+            "info": {
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+                "video.codec": "h264",
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+                "video.fps": 30,
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+        "timestamp": {
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+        "frame_index": {
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
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+            "names": null
+        },
+        "index": {
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+        },
+        "task_index": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v3.0/meta/modality.json b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
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+    },
+    "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": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
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+      "absolute": true,
+      "dtype": "float32",
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+    }
+  },
+  "action": {
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+      "end": 65,
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+      "dtype": "float32",
+      "original_key": "action"
+    },
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v3.0/meta/stats.json b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d58f611d9a954968aed1ece571feb5f38a38bf27
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_13_51_03_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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+{"source_uid": "dc3c1e683bb3217b", "num_frames": 463, "episode_id": "POC22050_2026_06_04_15_42_11_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_11_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_11_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_11_train/train_0.3.0@2026_06_04_15_42_11.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 175, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 285, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 395, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 175, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 285, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 395, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "fcaa70974dbb36ee", "num_frames": 420, "episode_id": "POC22050_2026_06_04_15_42_32_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_32_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_32_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_32_train/train_0.3.0@2026_06_04_15_42_32.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 175, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 270, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 360, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 175, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 270, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 360, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
+{"source_uid": "001b97f72e7fa298", "num_frames": 416, "episode_id": "POC22050_2026_06_04_15_42_53_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_53_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_53_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_53_train/train_0.3.0@2026_06_04_15_42_53.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 110, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 111, "end_step": 155, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 265, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 370, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 110, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 111, "end_step": 155, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 265, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 370, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
+{"source_uid": "2f262d97290a2a93", "num_frames": 456, "episode_id": "POC22050_2026_06_04_15_43_14_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_43_14_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_43_14_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_43_14_train/train_0.3.0@2026_06_04_15_43_14.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 165, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 400, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 165, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 400, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotations.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f40f2e82ce1454ede8516ccc70fdfdece9d57a9
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,58 @@
+{"source_uid": "8af9b851969e88b7", "num_frames": 594, "episode_id": "POC22050_2026_06_04_15_18_49_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_18_49_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_18_49_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_18_49_train/train_0.3.0@2026_06_04_15_18_49.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 125, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 126, "end_step": 195, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 400, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 525, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 125, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 126, "end_step": 195, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 400, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 525, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "9b181f7da94afb4b", "num_frames": 488, "episode_id": "POC22050_2026_06_04_15_19_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_19_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_19_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_19_23_train/train_0.3.0@2026_06_04_15_19_23.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 125, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 126, "end_step": 180, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 305, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 306, "end_step": 420, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 125, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 126, "end_step": 180, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 305, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 306, "end_step": 420, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "cc1872f63390d255", "num_frames": 445, "episode_id": "POC22050_2026_06_04_15_19_44_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_19_44_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_19_44_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_19_44_train/train_0.3.0@2026_06_04_15_19_44.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 125, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 126, "end_step": 165, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 270, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 380, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 125, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 126, "end_step": 165, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 270, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 380, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "2252423de44b0fc5", "num_frames": 505, "episode_id": "POC22050_2026_06_04_15_20_04_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_20_04_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_20_04_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_20_04_train/train_0.3.0@2026_06_04_15_20_04.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 100, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 101, "end_step": 165, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 325, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 326, "end_step": 445, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 100, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 101, "end_step": 165, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 325, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 326, "end_step": 445, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
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+{"source_uid": "dc3c1e683bb3217b", "num_frames": 463, "episode_id": "POC22050_2026_06_04_15_42_11_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_11_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_11_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_11_train/train_0.3.0@2026_06_04_15_42_11.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 175, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 285, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 395, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 175, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 285, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 395, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "fcaa70974dbb36ee", "num_frames": 420, "episode_id": "POC22050_2026_06_04_15_42_32_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_32_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_32_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_32_train/train_0.3.0@2026_06_04_15_42_32.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 175, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 270, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 360, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 121, "end_step": 175, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 270, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 360, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
+{"source_uid": "001b97f72e7fa298", "num_frames": 416, "episode_id": "POC22050_2026_06_04_15_42_53_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_53_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_53_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_42_53_train/train_0.3.0@2026_06_04_15_42_53.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 110, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 111, "end_step": 155, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 265, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 370, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 110, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 111, "end_step": 155, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 265, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 370, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
+{"source_uid": "2f262d97290a2a93", "num_frames": 456, "episode_id": "POC22050_2026_06_04_15_43_14_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_43_14_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_43_14_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_04_15_18_49_train/POC22050_2026_06_04_15_43_14_train/train_0.3.0@2026_06_04_15_43_14.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 165, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 400, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 105, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 106, "end_step": 165, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 400, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/episodes.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a1d3e2aa76c3378fe8d3fee5f787b067f0821283
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,58 @@
+{"episode_index": 0, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 594}
+{"episode_index": 1, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 488}
+{"episode_index": 2, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 445}
+{"episode_index": 3, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 505}
+{"episode_index": 4, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 491}
+{"episode_index": 5, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 445}
+{"episode_index": 6, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 481}
+{"episode_index": 7, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 550}
+{"episode_index": 8, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 472}
+{"episode_index": 9, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 462}
+{"episode_index": 10, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 475}
+{"episode_index": 11, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 455}
+{"episode_index": 12, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 438}
+{"episode_index": 13, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 518}
+{"episode_index": 14, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 502}
+{"episode_index": 15, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 504}
+{"episode_index": 16, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 460}
+{"episode_index": 17, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 477}
+{"episode_index": 18, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 467}
+{"episode_index": 19, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 691}
+{"episode_index": 20, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 542}
+{"episode_index": 21, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 541}
+{"episode_index": 22, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 552}
+{"episode_index": 23, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 482}
+{"episode_index": 24, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 494}
+{"episode_index": 25, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 465}
+{"episode_index": 26, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 515}
+{"episode_index": 27, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 443}
+{"episode_index": 28, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 658}
+{"episode_index": 29, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 526}
+{"episode_index": 30, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 444}
+{"episode_index": 31, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 465}
+{"episode_index": 32, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 513}
+{"episode_index": 33, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 479}
+{"episode_index": 34, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 594}
+{"episode_index": 35, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 480}
+{"episode_index": 36, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 590}
+{"episode_index": 37, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 463}
+{"episode_index": 38, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 457}
+{"episode_index": 39, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 459}
+{"episode_index": 40, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 446}
+{"episode_index": 41, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 455}
+{"episode_index": 42, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 426}
+{"episode_index": 43, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 452}
+{"episode_index": 44, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 424}
+{"episode_index": 45, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 441}
+{"episode_index": 46, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 446}
+{"episode_index": 47, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 446}
+{"episode_index": 48, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 482}
+{"episode_index": 49, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 525}
+{"episode_index": 50, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 480}
+{"episode_index": 51, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 460}
+{"episode_index": 52, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 425}
+{"episode_index": 53, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 461}
+{"episode_index": 54, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 463}
+{"episode_index": 55, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 420}
+{"episode_index": 56, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 416}
+{"episode_index": 57, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 456}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/episodes_stats.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a616288b66d9563f474bdcf4f820c873d81c7e8
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,58 @@
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diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/info.json b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ea71598f04342aa6a2d1db27c7976fd293b6eb3
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "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_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/modality.json b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_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_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/subtasks.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d15b23bc7924cd2a69c009bff74d1c8ab55b57b
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the empty cup on the left with the right hand | Skill: pick"}
+{"subtask_index": 1, "subtask": "Pick up the cup containing pills on the right with the left hand | Skill: pick"}
+{"subtask_index": 2, "subtask": "Pour the pills from the right cup into the left cup | Skill: pour"}
+{"subtask_index": 3, "subtask": "Place both cups back on the table in an upright position | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/tasks.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..92a441d44f92a32f0f135e376780d30cfbf3133d
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/v40_validation.json b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7cd8d17a99e140c332cb97cbb209ec8d1b32b68
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_04_15_18_49_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 58,
+  "frames": 28206,
+  "video_frames": {
+    "observation.images.head_left": 28206,
+    "observation.images.wrist_left": 28206,
+    "observation.images.wrist_right": 28206,
+    "observation.images.head_right": 28206,
+    "observation.images.tactile_deform": 28206,
+    "observation.images.tactile_raw": 28206
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 58
+}
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