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+{"source_uid": "69b996832867b82d", "num_frames": 1272, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 605, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 1159, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 1160, "end_step": 1218, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 605, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 1159, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 1160, "end_step": 1218, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_14_26_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "aa7b9cb281a588ef", "num_frames": 737, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 304, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 305, "end_step": 615, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 673, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 304, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 305, "end_step": 615, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 673, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_14_32_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_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": "7a9246c2b797cf80", "num_frames": 722, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 289, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 290, "end_step": 577, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 578, "end_step": 649, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 289, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 290, "end_step": 577, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 578, "end_step": 649, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_14_33_30_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_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": "961d9335dc255abe", "num_frames": 363, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 246, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 300, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 246, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 300, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_18_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 242, "v40_language_source": "previous_published_lerobot", "episode_index": 242}
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+{"source_uid": "d205e300b6e8ad63", "num_frames": 320, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 222, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 262, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 222, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 262, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_30_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 272, "v40_language_source": "previous_published_lerobot", "episode_index": 272}
+{"source_uid": "ba1e226599e1a627", "num_frames": 399, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 336, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 336, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_31_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 273, "v40_language_source": "previous_published_lerobot", "episode_index": 273}
+{"source_uid": "36cc4106081c7890", "num_frames": 330, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 234, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 279, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 234, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 279, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_31_25_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 274, "v40_language_source": "previous_published_lerobot", "episode_index": 274}
+{"source_uid": "8c90d703ef1cf2ce", "num_frames": 371, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 261, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 308, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 261, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 308, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_31_48_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 275, "v40_language_source": "previous_published_lerobot", "episode_index": 275}
+{"source_uid": "825b3759cfd21c0b", "num_frames": 381, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 272, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 320, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 272, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 320, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_32_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 276, "v40_language_source": "previous_published_lerobot", "episode_index": 276}
diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v3.0/meta/annotations.jsonl b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb4cc6c43c7f5d4c5ebfb9311211cc9518a0a11d
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,277 @@
+{"source_uid": "69b996832867b82d", "num_frames": 1272, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 605, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 1159, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 1160, "end_step": 1218, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 605, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 1159, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 1160, "end_step": 1218, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_14_26_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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+{"source_uid": "961d9335dc255abe", "num_frames": 363, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Brush Cup | Instruction: Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table. | Scene: A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position. | Success: The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "tags": {"task_name": "Brush Cup", "task_instruction": "Pick up the cup and the cleaning brush. Insert the brush into the cup and scrub the inside and rim of the cup thoroughly. Finish brushing, remove the brush, and place the cup and brush back on the table.", "scene_description": "A cup and a cleaning brush are on the table. The robot needs to use the brush to clean the cup and then place the objects back in a stable position.", "success_criteria": "The cup is brushed thoroughly, the brush is removed from the cup, and both the cup and brush are placed stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 246, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 300, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up or stabilize the cup and take hold of the cleaning brush. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 246, "id": "subtask-002", "text": "Insert the brush into the cup and scrub the inside and rim of the cup. | Skill: brush", "task_skill": "brush", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 300, "id": "subtask-003", "text": "Remove the brush and place the cup and brush back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/brush_cup/season_POC22027_2026_05_03_14_26_35_train/POC22027_2026_05_03_20_18_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 242, "v40_language_source": "previous_published_lerobot", "episode_index": 242}
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+                "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.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": [
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+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
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+                480,
+                3
+            ],
+            "names": [
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+                "width",
+                "channels"
+            ],
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+                "video.width": 480,
+                "video.codec": "h264",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
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+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "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/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v3.0/meta/modality.json b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v3.0/meta/stats.json b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..126c29769c2ca167edd3e4d5ff0b4ec4951ef641
--- /dev/null
+++ b/scrub_cup_interior/season_POC22027_2026_05_03_14_26_35_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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