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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 631, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 632, "end_step": 721, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 982, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 983, "end_step": 1027, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1028, "end_step": 1078, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1079, "end_step": 1126, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1201, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1297, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1298, "end_step": 1336, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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[]}, {"label": "subtasks", "start_step": 722, "end_step": 982, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 983, "end_step": 1027, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1028, "end_step": 1078, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1079, "end_step": 1126, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1201, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1297, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1298, "end_step": 1336, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "3414af85-d7e8-4b9e-8076-1ccb37d912b8"}, {"label": "valid", "start_step": 0, "end_step": 1039, "id": "tON6C9SX-jy9VtRx8yHBb"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "goal", "start_step": 175, "end_step": 306, "id": 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{"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 562, "end_step": 741, "id": "5dbdf630-fca0-4e56-b87d-bd80baa20dcc"}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 742, "end_step": 786, "id": "fe5c9079-4cc7-45c5-81ab-15ea8df8dffb"}, {"label": "goal", "start_step": 787, "end_step": 814, "id": "0113e45f-f279-449a-b6d2-8d43dcdb6b33"}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": 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"task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 22}
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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 540, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 804, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 840, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 852, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 801, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 885, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 1068, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1119, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1143, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1188, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1242, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1335, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1383, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 237, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 1068, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1119, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1143, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1188, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1242, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1335, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1383, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 688, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 763, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 764, "end_step": 970, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1072, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1073, "end_step": 1243, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1244, "end_step": 1291, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1292, "end_step": 1333, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1334, "end_step": 1417, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1418, "end_step": 1468, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 235, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 236, "end_step": 460, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 505, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 506, "end_step": 613, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 614, "end_step": 688, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 763, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 764, "end_step": 970, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1072, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1073, "end_step": 1243, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1244, "end_step": 1291, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1292, "end_step": 1333, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1334, "end_step": 1417, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1418, "end_step": 1468, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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diff --git a/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/annotations.jsonl b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d892d908e388cb5a059d07b980e3ca7d6ed5b50
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,70 @@
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Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1119, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1209, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1428, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1429, "end_step": 1497, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1498, "end_step": 1536, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1587, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1588, "end_step": 1632, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1633, "end_step": 1899, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1900, "end_step": 1965, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 264, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1428, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1429, "end_step": 1497, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1498, "end_step": 1536, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1587, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1588, "end_step": 1632, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1633, "end_step": 1899, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1900, "end_step": 1965, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 631, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 632, "end_step": 721, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 982, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 983, "end_step": 1027, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1028, "end_step": 1078, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1079, "end_step": 1126, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1201, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1297, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1298, "end_step": 1336, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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[]}, {"label": "subtasks", "start_step": 722, "end_step": 982, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 983, "end_step": 1027, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1028, "end_step": 1078, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1079, "end_step": 1126, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1201, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1297, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1298, "end_step": 1336, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "3414af85-d7e8-4b9e-8076-1ccb37d912b8"}, {"label": "valid", "start_step": 0, "end_step": 1039, "id": "tON6C9SX-jy9VtRx8yHBb"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "goal", "start_step": 175, "end_step": 306, "id": 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{"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 562, "end_step": 741, "id": "5dbdf630-fca0-4e56-b87d-bd80baa20dcc"}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 742, "end_step": 786, "id": "fe5c9079-4cc7-45c5-81ab-15ea8df8dffb"}, {"label": "goal", "start_step": 787, "end_step": 814, "id": "0113e45f-f279-449a-b6d2-8d43dcdb6b33"}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": 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"task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 22}
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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 540, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 804, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 840, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 852, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": 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+                "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",
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+                "left_arm_tcp_pose_1",
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+                "left_arm_tcp_pose_4",
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+                "right_arm_tcp_pose_3",
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+}
\ No newline at end of file
diff --git a/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/modality.json b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    "wrist_left": {
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+    },
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+    "head_right": {
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+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
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+      "dtype": "float32",
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
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+    }
+  }
+}
diff --git a/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/stats.json b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ae09be3f102a10944e922d4f75c93b3f5fa035
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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