Add simulation One-Shot semantic subtask annotations

data/simulation/one-shot/annotations/subtasks/frame_labels.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c60482a9e93eab03c4ced08fc9f51c25dc3a91c95dbbbd5217aa302c0b4083fd
+size 45078

data/simulation/one-shot/annotations/subtasks/load_subtasks.py

@@ -0,0 +1,68 @@
+"""Read supplemental simulation One-Shot labels beside a LeRobot v3.0 dataset.
+
+The sidecar labels the active semantic subtask, not reward or success. Semantic
+boundary adjustment bands are independent of LeRobot video-loading tolerance.
+Requires only the Python standard library and PyArrow.
+"""
+from pathlib import Path, PurePosixPath
+import hashlib
+import json
+
+import pyarrow.parquet as pq
+
+
+class SubtaskAnnotations:
+    def __init__(self, dataset_root, verify_manifest=True):
+        self.dataset_root = Path(dataset_root)
+        self.annotation_root = self.dataset_root / "annotations" / "subtasks"
+        self.metadata = json.loads((self.annotation_root / "metadata.json").read_text())
+        if verify_manifest:
+            manifest = json.loads((self.annotation_root / "manifest.json").read_text())
+            for entry in manifest["files"]:
+                name = PurePosixPath(entry["path"])
+                if name.is_absolute() or ".." in name.parts:
+                    raise ValueError("Invalid manifest-relative file path")
+                payload = (self.annotation_root / name).read_bytes()
+                if len(payload) != entry["bytes"] or hashlib.sha256(payload).hexdigest() != entry["sha256"]:
+                    raise ValueError("Annotation manifest checksum mismatch")
+        info_path = self.dataset_root / "meta" / "info.json"
+        if info_path.exists():
+            info = json.loads(info_path.read_text())
+            for key in ("fps", "total_episodes", "total_frames"):
+                if info.get(key) != self.metadata["dataset"][key]:
+                    raise ValueError("Dataset/annotation metadata mismatch: " + key)
+            if info.get("codebase_version") != "v3.0":
+                raise ValueError("Expected a LeRobot v3.0 dataset")
+        self.table = pq.read_table(self.annotation_root / "frame_labels.parquet")
+        self.by_frame = {}
+        global_indices = set()
+        for row in self.table.to_pylist():
+            key = (row["episode_index"], row["frame_index"])
+            if key in self.by_frame or row["global_index"] in global_indices:
+                raise ValueError("Duplicate annotation frame/global index")
+            self.by_frame[key] = row
+            global_indices.add(row["global_index"])
+        if len(self.by_frame) != self.metadata["dataset"]["total_frames"]:
+            raise ValueError("Annotation frame count mismatch")
+        if global_indices != set(range(self.metadata["dataset"]["total_frames"])):
+            raise ValueError("Annotation global index grid mismatch")
+        for episode in self.metadata["episodes"]:
+            ep = episode["episode_index"]
+            for frame in range(episode["length"]):
+                row = self.by_frame.get((ep, frame))
+                if row is None or row["global_index"] != episode["dataset_from_index"] + frame:
+                    raise ValueError("Annotation episode/frame/global index mismatch")
+
+    def label(self, episode_index, frame_index, global_index=None):
+        row = self.by_frame[(int(episode_index), int(frame_index))]
+        if global_index is not None and row["global_index"] != int(global_index):
+            raise ValueError("LeRobot sample index does not match annotation")
+        return dict(row)
+
+    def for_sample(self, sample):
+        """Attach explicitly to a scalar LeRobotDataset sample, before collation."""
+        return self.label(sample["episode_index"], sample["frame_index"], sample["index"])
+
+
+def load_subtasks(dataset_root, verify_manifest=True):
+    return SubtaskAnnotations(dataset_root, verify_manifest=verify_manifest)

data/simulation/one-shot/annotations/subtasks/manifest.json

@@ -0,0 +1,50 @@
+{
+  "schema_version": 1,
+  "annotation_revision": 2,
+  "annotation_status": "user_confirmed_release",
+  "source_dataset": {
+    "repo_id": "wzlllong/value-model-benchmark-training-data",
+    "subtree": "data/simulation/one-shot",
+    "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
+    "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
+  },
+  "checksum_algorithm": "SHA256",
+  "scope": "Payload files listed below; manifest does not hash itself. Optional documentation is outside this payload manifest.",
+  "files": [
+    {
+      "path": "frame_labels.parquet",
+      "bytes": 45078,
+      "sha256": "c60482a9e93eab03c4ced08fc9f51c25dc3a91c95dbbbd5217aa302c0b4083fd"
+    },
+    {
+      "path": "load_subtasks.py",
+      "bytes": 3613,
+      "sha256": "1da4ca862876b3e905aa48aadc01e0d8fe95f00b63bc0bc94e526bd4102d5526"
+    },
+    {
+      "path": "metadata.json",
+      "bytes": 6020,
+      "sha256": "66f9cb2b99fb1660dc53e79e704738c17f583acac6fe94b6fd854efc131b5d72"
+    },
+    {
+      "path": "segments.json",
+      "bytes": 40801,
+      "sha256": "d051fa39a762429ed676ea026d58ba3605907c1bc6fdc5cf591243157e641bc5"
+    },
+    {
+      "path": "segments.parquet",
+      "bytes": 12243,
+      "sha256": "b59c48d8fe127b5e709cece59194c34d8b4b11d20b783d7e027d4f3d271ba059"
+    },
+    {
+      "path": "taxonomy.json",
+      "bytes": 18280,
+      "sha256": "42ba4f20b63b5474a9e065249d5c1344ae9a95a6f7f0b61dcedf452994310032"
+    },
+    {
+      "path": "validation.json",
+      "bytes": 1826,
+      "sha256": "2cd9f8077225b1e3701b702722e7a49f60820f5090cb4af7605f3ca12e976545"
+    }
+  ]
+}

data/simulation/one-shot/annotations/subtasks/metadata.json

@@ -0,0 +1,185 @@
+{
+  "schema_version": 1,
+  "annotation_revision": 2,
+  "annotation_status": "user_confirmed_release",
+  "source_dataset": {
+    "repo_id": "wzlllong/value-model-benchmark-training-data",
+    "subtree": "data/simulation/one-shot",
+    "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
+    "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
+  },
+  "dataset": {
+    "codebase_version": "v3.0",
+    "fps": 25,
+    "total_episodes": 15,
+    "total_frames": 8080,
+    "total_videos": 45
+  },
+  "paper": {
+    "url": "https://arxiv.org/abs/2610.26663",
+    "revision": "2610.26663v1",
+    "section": "C.2 Task Descriptions and Subtask Decomposition"
+  },
+  "segment_count": 58,
+  "paper_subtask_count": 58,
+  "annotation_target": "Active semantic subtask for each training-demonstration frame; not success, reward, or task-completion probability.",
+  "release_scope": "Supplemental annotations for simulation One-Shot training demonstrations, separate from benchmark test-set labels described in paper Section 3.4.",
+  "coverage_policy": "Every frame receives one printed paper subtask. Initial waiting belongs to the first subtask; terminal tail and retraction belong to the final subtask through episode end.",
+  "interval_convention": "[start_frame, end_frame); inclusive_end_frame = end_frame - 1",
+  "join_keys": [
+    "episode_index",
+    "frame_index"
+  ],
+  "global_index_check": "global_index equals the LeRobot data index column",
+  "timestamp_convention": "Nominal timestamp_seconds = frame_index / 25; associate frames by integer keys, not exact float timestamp equality.",
+  "boundary_band": "Typically 13 frames (0.52 seconds); retained segment-specific widths are suggested adjustment bands, not measured confidence bounds or guarantees of frame-perfect precision.",
+  "boundary_uncertain_policy": "For each segment, mark its first t frames after an internal start and last t frames before an internal end; episode outer boundaries excluded. Keep all frame labels regardless of mask.",
+  "video_loading": {
+    "recommended_lerobot": "0.4.2",
+    "recommended_pyav": "15.1.0",
+    "default_tolerance_seconds": 0.0001,
+    "semantic_band_changes_loader_tolerance": false
+  },
+  "source_training_payload_modified": false,
+  "printed_label_policy": "Use the paper's printed S definitions, including Press By Number's S1 first button, S2 blue, S3 second button, S4 blue again; preserve the accepted order without rewriting the paper instruction.",
+  "task_aliases": {
+    "sweep_objects": "sweep_blocks"
+  },
+  "episodes": [
+    {
+      "episode_index": 0,
+      "task_index": 0,
+      "task_key": "arrange_largest_number",
+      "source_task_key": "arrange_largest_number",
+      "length": 579,
+      "dataset_from_index": 0,
+      "dataset_to_index": 579
+    },
+    {
+      "episode_index": 1,
+      "task_index": 1,
+      "task_key": "fill_pen_holder",
+      "source_task_key": "fill_pen_holder",
+      "length": 934,
+      "dataset_from_index": 579,
+      "dataset_to_index": 1513
+    },
+    {
+      "episode_index": 2,
+      "task_index": 2,
+      "task_key": "fold_clothes",
+      "source_task_key": "fold_clothes",
+      "length": 301,
+      "dataset_from_index": 1513,
+      "dataset_to_index": 1814
+    },
+    {
+      "episode_index": 3,
+      "task_index": 3,
+      "task_key": "hang_mugs",
+      "source_task_key": "hang_mugs",
+      "length": 513,
+      "dataset_from_index": 1814,
+      "dataset_to_index": 2327
+    },
+    {
+      "episode_index": 4,
+      "task_index": 4,
+      "task_key": "insert_tubes",
+      "source_task_key": "insert_tubes",
+      "length": 320,
+      "dataset_from_index": 2327,
+      "dataset_to_index": 2647
+    },
+    {
+      "episode_index": 5,
+      "task_index": 5,
+      "task_key": "make_toast",
+      "source_task_key": "make_toast",
+      "length": 584,
+      "dataset_from_index": 2647,
+      "dataset_to_index": 3231
+    },
+    {
+      "episode_index": 6,
+      "task_index": 6,
+      "task_key": "organize_table",
+      "source_task_key": "organize_table",
+      "length": 839,
+      "dataset_from_index": 3231,
+      "dataset_to_index": 4070
+    },
+    {
+      "episode_index": 7,
+      "task_index": 7,
+      "task_key": "pack_objects_into_box",
+      "source_task_key": "pack_objects_into_box",
+      "length": 414,
+      "dataset_from_index": 4070,
+      "dataset_to_index": 4484
+    },
+    {
+      "episode_index": 8,
+      "task_index": 8,
+      "task_key": "play_stacking_toy",
+      "source_task_key": "play_stacking_toy",
+      "length": 888,
+      "dataset_from_index": 4484,
+      "dataset_to_index": 5372
+    },
+    {
+      "episode_index": 9,
+      "task_index": 9,
+      "task_key": "press_by_number",
+      "source_task_key": "press_by_number",
+      "length": 378,
+      "dataset_from_index": 5372,
+      "dataset_to_index": 5750
+    },
+    {
+      "episode_index": 10,
+      "task_index": 10,
+      "task_key": "put_bottles_into_dustbin",
+      "source_task_key": "put_bottles_into_dustbin",
+      "length": 363,
+      "dataset_from_index": 5750,
+      "dataset_to_index": 6113
+    },
+    {
+      "episode_index": 11,
+      "task_index": 11,
+      "task_key": "stack_blocks",
+      "source_task_key": "stack_blocks",
+      "length": 268,
+      "dataset_from_index": 6113,
+      "dataset_to_index": 6381
+    },
+    {
+      "episode_index": 12,
+      "task_index": 12,
+      "task_key": "store_laptop_and_headphones",
+      "source_task_key": "store_laptop_and_headphones",
+      "length": 551,
+      "dataset_from_index": 6381,
+      "dataset_to_index": 6932
+    },
+    {
+      "episode_index": 13,
+      "task_index": 13,
+      "task_key": "swap_blocks",
+      "source_task_key": "swap_blocks",
+      "length": 445,
+      "dataset_from_index": 6932,
+      "dataset_to_index": 7377
+    },
+    {
+      "episode_index": 14,
+      "task_index": 14,
+      "task_key": "sweep_blocks",
+      "source_task_key": "sweep_objects",
+      "length": 703,
+      "dataset_from_index": 7377,
+      "dataset_to_index": 8080
+    }
+  ]
+}

data/simulation/one-shot/annotations/subtasks/segments.json

@@ -0,0 +1,1175 @@
+{
+  "schema_version": 1,
+  "annotation_revision": 2,
+  "annotation_status": "user_confirmed_release",
+  "source_dataset": {
+    "repo_id": "wzlllong/value-model-benchmark-training-data",
+    "subtree": "data/simulation/one-shot",
+    "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
+    "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
+  },
+  "fps": 25,
+  "interval_convention": "[start_frame, end_frame)",
+  "segments": [
+    {
+      "episode_index": 0,
+      "task_key": "arrange_largest_number",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 104,
+      "segment_index": 0,
+      "boundary_tolerance_frames": 13,
+      "task_index": 0,
+      "source_task_key": "arrange_largest_number",
+      "semantic_id": "arrange_largest_number/S1",
+      "subtask_text_en": "Place the largest number on the leftmost mat.",
+      "subtask_text_zh": "将最大的数字放到最左侧垫子。",
+      "inclusive_end_frame": 103,
+      "global_start_index": 0,
+      "global_end_index": 104,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 4.16,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 0,
+      "task_key": "arrange_largest_number",
+      "subtask_id": "S2",
+      "start_frame": 104,
+      "end_frame": 280,
+      "segment_index": 1,
+      "boundary_tolerance_frames": 13,
+      "task_index": 0,
+      "source_task_key": "arrange_largest_number",
+      "semantic_id": "arrange_largest_number/S2",
+      "subtask_text_en": "Place the largest number outside the mats on the second mat from the left.",
+      "subtask_text_zh": "将垫子外最大的数字放到左起第二个垫子。",
+      "inclusive_end_frame": 279,
+      "global_start_index": 104,
+      "global_end_index": 280,
+      "start_timestamp_seconds": 4.16,
+      "end_timestamp_seconds": 11.2,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 0,
+      "task_key": "arrange_largest_number",
+      "subtask_id": "S3",
+      "start_frame": 280,
+      "end_frame": 384,
+      "segment_index": 2,
+      "boundary_tolerance_frames": 13,
+      "task_index": 0,
+      "source_task_key": "arrange_largest_number",
+      "semantic_id": "arrange_largest_number/S3",
+      "subtask_text_en": "Place the largest number outside the mats on the third mat from the left.",
+      "subtask_text_zh": "将垫子外最大的数字放到左起第三个垫子。",
+      "inclusive_end_frame": 383,
+      "global_start_index": 280,
+      "global_end_index": 384,
+      "start_timestamp_seconds": 11.2,
+      "end_timestamp_seconds": 15.36,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 0,
+      "task_key": "arrange_largest_number",
+      "subtask_id": "S4",
+      "start_frame": 384,
+      "end_frame": 579,
+      "segment_index": 3,
+      "boundary_tolerance_frames": 13,
+      "task_index": 0,
+      "source_task_key": "arrange_largest_number",
+      "semantic_id": "arrange_largest_number/S4",
+      "subtask_text_en": "Place the remaining number on the fourth mat from the left.",
+      "subtask_text_zh": "将剩余数字放到左起第四个垫子。",
+      "inclusive_end_frame": 578,
+      "global_start_index": 384,
+      "global_end_index": 579,
+      "start_timestamp_seconds": 15.36,
+      "end_timestamp_seconds": 23.16,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 1,
+      "task_key": "fill_pen_holder",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 123,
+      "segment_index": 4,
+      "boundary_tolerance_frames": 13,
+      "task_index": 1,
+      "source_task_key": "fill_pen_holder",
+      "semantic_id": "fill_pen_holder/S1",
+      "subtask_text_en": "Hold the empty pen holder.",
+      "subtask_text_zh": "拿住空笔筒。",
+      "inclusive_end_frame": 122,
+      "global_start_index": 579,
+      "global_end_index": 702,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 4.92,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 1,
+      "task_key": "fill_pen_holder",
+      "subtask_id": "S2",
+      "start_frame": 123,
+      "end_frame": 331,
+      "segment_index": 5,
+      "boundary_tolerance_frames": 13,
+      "task_index": 1,
+      "source_task_key": "fill_pen_holder",
+      "semantic_id": "fill_pen_holder/S2",
+      "subtask_text_en": "Insert the first selected pen into the pen holder.",
+      "subtask_text_zh": "将第一支选中的笔插入笔筒。",
+      "inclusive_end_frame": 330,
+      "global_start_index": 702,
+      "global_end_index": 910,
+      "start_timestamp_seconds": 4.92,
+      "end_timestamp_seconds": 13.24,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 1,
+      "task_key": "fill_pen_holder",
+      "subtask_id": "S3",
+      "start_frame": 331,
+      "end_frame": 526,
+      "segment_index": 6,
+      "boundary_tolerance_frames": 13,
+      "task_index": 1,
+      "source_task_key": "fill_pen_holder",
+      "semantic_id": "fill_pen_holder/S3",
+      "subtask_text_en": "Insert the second selected pen into the pen holder.",
+      "subtask_text_zh": "将第二支选中的笔插入笔筒。",
+      "inclusive_end_frame": 525,
+      "global_start_index": 910,
+      "global_end_index": 1105,
+      "start_timestamp_seconds": 13.24,
+      "end_timestamp_seconds": 21.04,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 1,
+      "task_key": "fill_pen_holder",
+      "subtask_id": "S4",
+      "start_frame": 526,
+      "end_frame": 709,
+      "segment_index": 7,
+      "boundary_tolerance_frames": 13,
+      "task_index": 1,
+      "source_task_key": "fill_pen_holder",
+      "semantic_id": "fill_pen_holder/S4",
+      "subtask_text_en": "Insert the third selected pen into the pen holder.",
+      "subtask_text_zh": "将第三支选中的笔插入笔筒。",
+      "inclusive_end_frame": 708,
+      "global_start_index": 1105,
+      "global_end_index": 1288,
+      "start_timestamp_seconds": 21.04,
+      "end_timestamp_seconds": 28.36,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 1,
+      "task_key": "fill_pen_holder",
+      "subtask_id": "S5",
+      "start_frame": 709,
+      "end_frame": 845,
+      "segment_index": 8,
+      "boundary_tolerance_frames": 13,
+      "task_index": 1,
+      "source_task_key": "fill_pen_holder",
+      "semantic_id": "fill_pen_holder/S5",
+      "subtask_text_en": "Insert the remaining pen into the pen holder.",
+      "subtask_text_zh": "将剩余的一支笔插入笔筒。",
+      "inclusive_end_frame": 844,
+      "global_start_index": 1288,
+      "global_end_index": 1424,
+      "start_timestamp_seconds": 28.36,
+      "end_timestamp_seconds": 33.8,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 1,
+      "task_key": "fill_pen_holder",
+      "subtask_id": "S6",
+      "start_frame": 845,
+      "end_frame": 934,
+      "segment_index": 9,
+      "boundary_tolerance_frames": 13,
+      "task_index": 1,
+      "source_task_key": "fill_pen_holder",
+      "semantic_id": "fill_pen_holder/S6",
+      "subtask_text_en": "Place the filled pen holder upright on the table.",
+      "subtask_text_zh": "将装满的笔筒直立放在桌上。",
+      "inclusive_end_frame": 933,
+      "global_start_index": 1424,
+      "global_end_index": 1513,
+      "start_timestamp_seconds": 33.8,
+      "end_timestamp_seconds": 37.36,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 2,
+      "task_key": "fold_clothes",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 103,
+      "segment_index": 10,
+      "boundary_tolerance_frames": 13,
+      "task_index": 2,
+      "source_task_key": "fold_clothes",
+      "semantic_id": "fold_clothes/S1",
+      "subtask_text_en": "Fold the left sleeve inward.",
+      "subtask_text_zh": "将左袖向内折。",
+      "inclusive_end_frame": 102,
+      "global_start_index": 1513,
+      "global_end_index": 1616,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 4.12,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 2,
+      "task_key": "fold_clothes",
+      "subtask_id": "S2",
+      "start_frame": 103,
+      "end_frame": 208,
+      "segment_index": 11,
+      "boundary_tolerance_frames": 13,
+      "task_index": 2,
+      "source_task_key": "fold_clothes",
+      "semantic_id": "fold_clothes/S2",
+      "subtask_text_en": "Fold the right sleeve inward.",
+      "subtask_text_zh": "将右袖向内折。",
+      "inclusive_end_frame": 207,
+      "global_start_index": 1616,
+      "global_end_index": 1721,
+      "start_timestamp_seconds": 4.12,
+      "end_timestamp_seconds": 8.32,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 2,
+      "task_key": "fold_clothes",
+      "subtask_id": "S3",
+      "start_frame": 208,
+      "end_frame": 301,
+      "segment_index": 12,
+      "boundary_tolerance_frames": 13,
+      "task_index": 2,
+      "source_task_key": "fold_clothes",
+      "semantic_id": "fold_clothes/S3",
+      "subtask_text_en": "Fold the lower half of the garment over the upper half.",
+      "subtask_text_zh": "将衣物下半部分折到上半部分之上。",
+      "inclusive_end_frame": 300,
+      "global_start_index": 1721,
+      "global_end_index": 1814,
+      "start_timestamp_seconds": 8.32,
+      "end_timestamp_seconds": 12.04,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 3,
+      "task_key": "hang_mugs",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 190,
+      "segment_index": 13,
+      "boundary_tolerance_frames": 13,
+      "task_index": 3,
+      "source_task_key": "hang_mugs",
+      "semantic_id": "hang_mugs/S1",
+      "subtask_text_en": "Hang the first cup on an empty hook.",
+      "subtask_text_zh": "将第一个杯子挂在空挂钩上。",
+      "inclusive_end_frame": 189,
+      "global_start_index": 1814,
+      "global_end_index": 2004,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 7.6,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 3,
+      "task_key": "hang_mugs",
+      "subtask_id": "S2",
+      "start_frame": 190,
+      "end_frame": 331,
+      "segment_index": 14,
+      "boundary_tolerance_frames": 13,
+      "task_index": 3,
+      "source_task_key": "hang_mugs",
+      "semantic_id": "hang_mugs/S2",
+      "subtask_text_en": "Hang the second cup on another empty hook.",
+      "subtask_text_zh": "将第二个杯子挂在另一个空挂钩上。",
+      "inclusive_end_frame": 330,
+      "global_start_index": 2004,
+      "global_end_index": 2145,
+      "start_timestamp_seconds": 7.6,
+      "end_timestamp_seconds": 13.24,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 3,
+      "task_key": "hang_mugs",
+      "subtask_id": "S3",
+      "start_frame": 331,
+      "end_frame": 513,
+      "segment_index": 15,
+      "boundary_tolerance_frames": 13,
+      "task_index": 3,
+      "source_task_key": "hang_mugs",
+      "semantic_id": "hang_mugs/S3",
+      "subtask_text_en": "Hang the third cup on the remaining empty hook.",
+      "subtask_text_zh": "将第三个杯子挂在剩余空挂钩上。",
+      "inclusive_end_frame": 512,
+      "global_start_index": 2145,
+      "global_end_index": 2327,
+      "start_timestamp_seconds": 13.24,
+      "end_timestamp_seconds": 20.52,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 4,
+      "task_key": "insert_tubes",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 110,
+      "segment_index": 16,
+      "boundary_tolerance_frames": 13,
+      "task_index": 4,
+      "source_task_key": "insert_tubes",
+      "semantic_id": "insert_tubes/S1",
+      "subtask_text_en": "Insert the first tube into an empty slot.",
+      "subtask_text_zh": "将第一根管插入空槽。",
+      "inclusive_end_frame": 109,
+      "global_start_index": 2327,
+      "global_end_index": 2437,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 4.4,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 4,
+      "task_key": "insert_tubes",
+      "subtask_id": "S2",
+      "start_frame": 110,
+      "end_frame": 208,
+      "segment_index": 17,
+      "boundary_tolerance_frames": 13,
+      "task_index": 4,
+      "source_task_key": "insert_tubes",
+      "semantic_id": "insert_tubes/S2",
+      "subtask_text_en": "Insert the second tube into another empty slot.",
+      "subtask_text_zh": "将第二根管插入另一个空槽。",
+      "inclusive_end_frame": 207,
+      "global_start_index": 2437,
+      "global_end_index": 2535,
+      "start_timestamp_seconds": 4.4,
+      "end_timestamp_seconds": 8.32,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 4,
+      "task_key": "insert_tubes",
+      "subtask_id": "S3",
+      "start_frame": 208,
+      "end_frame": 320,
+      "segment_index": 18,
+      "boundary_tolerance_frames": 13,
+      "task_index": 4,
+      "source_task_key": "insert_tubes",
+      "semantic_id": "insert_tubes/S3",
+      "subtask_text_en": "Insert the third tube into the remaining empty slot.",
+      "subtask_text_zh": "将第三根管插入剩余空槽。",
+      "inclusive_end_frame": 319,
+      "global_start_index": 2535,
+      "global_end_index": 2647,
+      "start_timestamp_seconds": 8.32,
+      "end_timestamp_seconds": 12.8,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 5,
+      "task_key": "make_toast",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 293,
+      "segment_index": 19,
+      "boundary_tolerance_frames": 13,
+      "task_index": 5,
+      "source_task_key": "make_toast",
+      "semantic_id": "make_toast/S1",
+      "subtask_text_en": "Insert the first bread slice into one toaster slot.",
+      "subtask_text_zh": "将第一片面包插入一个烤面包机槽。",
+      "inclusive_end_frame": 292,
+      "global_start_index": 2647,
+      "global_end_index": 2940,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 11.72,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 5,
+      "task_key": "make_toast",
+      "subtask_id": "S2",
+      "start_frame": 293,
+      "end_frame": 527,
+      "segment_index": 20,
+      "boundary_tolerance_frames": 13,
+      "task_index": 5,
+      "source_task_key": "make_toast",
+      "semantic_id": "make_toast/S2",
+      "subtask_text_en": "Insert the second bread slice into the remaining toaster slot.",
+      "subtask_text_zh": "将第二片面包插入剩余烤面包机槽。",
+      "inclusive_end_frame": 526,
+      "global_start_index": 2940,
+      "global_end_index": 3174,
+      "start_timestamp_seconds": 11.72,
+      "end_timestamp_seconds": 21.08,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 5,
+      "task_key": "make_toast",
+      "subtask_id": "S3",
+      "start_frame": 527,
+      "end_frame": 584,
+      "segment_index": 21,
+      "boundary_tolerance_frames": 13,
+      "task_index": 5,
+      "source_task_key": "make_toast",
+      "semantic_id": "make_toast/S3",
+      "subtask_text_en": "Press the toaster lever down.",
+      "subtask_text_zh": "按下烤面包机拉杆。",
+      "inclusive_end_frame": 583,
+      "global_start_index": 3174,
+      "global_end_index": 3231,
+      "start_timestamp_seconds": 21.08,
+      "end_timestamp_seconds": 23.36,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 6,
+      "task_key": "organize_table",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 162,
+      "segment_index": 22,
+      "boundary_tolerance_frames": 13,
+      "task_index": 6,
+      "source_task_key": "organize_table",
+      "semantic_id": "organize_table/S1",
+      "subtask_text_en": "Place the alarm clock on top of the drawer.",
+      "subtask_text_zh": "将闹钟放到抽屉顶部。",
+      "inclusive_end_frame": 161,
+      "global_start_index": 3231,
+      "global_end_index": 3393,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 6.48,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 6,
+      "task_key": "organize_table",
+      "subtask_id": "S2",
+      "start_frame": 162,
+      "end_frame": 384,
+      "segment_index": 23,
+      "boundary_tolerance_frames": 13,
+      "task_index": 6,
+      "source_task_key": "organize_table",
+      "semantic_id": "organize_table/S2",
+      "subtask_text_en": "Place the figurine on the stand.",
+      "subtask_text_zh": "将摆件放到支架上。",
+      "inclusive_end_frame": 383,
+      "global_start_index": 3393,
+      "global_end_index": 3615,
+      "start_timestamp_seconds": 6.48,
+      "end_timestamp_seconds": 15.36,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 6,
+      "task_key": "organize_table",
+      "subtask_id": "S3",
+      "start_frame": 384,
+      "end_frame": 546,
+      "segment_index": 24,
+      "boundary_tolerance_frames": 13,
+      "task_index": 6,
+      "source_task_key": "organize_table",
+      "semantic_id": "organize_table/S3",
+      "subtask_text_en": "Place the mouse on the mouse pad.",
+      "subtask_text_zh": "将鼠标放到鼠标垫上。",
+      "inclusive_end_frame": 545,
+      "global_start_index": 3615,
+      "global_end_index": 3777,
+      "start_timestamp_seconds": 15.36,
+      "end_timestamp_seconds": 21.84,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 6,
+      "task_key": "organize_table",
+      "subtask_id": "S4",
+      "start_frame": 546,
+      "end_frame": 839,
+      "segment_index": 25,
+      "boundary_tolerance_frames": 25,
+      "task_index": 6,
+      "source_task_key": "organize_table",
+      "semantic_id": "organize_table/S4",
+      "subtask_text_en": "Insert the keyboard into the frame.",
+      "subtask_text_zh": "将键盘推入框架。",
+      "inclusive_end_frame": 838,
+      "global_start_index": 3777,
+      "global_end_index": 4070,
+      "start_timestamp_seconds": 21.84,
+      "end_timestamp_seconds": 33.56,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 7,
+      "task_key": "pack_objects_into_box",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 72,
+      "segment_index": 26,
+      "boundary_tolerance_frames": 13,
+      "task_index": 7,
+      "source_task_key": "pack_objects_into_box",
+      "semantic_id": "pack_objects_into_box/S1",
+      "subtask_text_en": "Clear the center of the table, then place the box in the center of the table.",
+      "subtask_text_zh": "清空桌面中央，再将盒子放到桌面中央。",
+      "inclusive_end_frame": 71,
+      "global_start_index": 4070,
+      "global_end_index": 4142,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 2.88,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 7,
+      "task_key": "pack_objects_into_box",
+      "subtask_id": "S2",
+      "start_frame": 72,
+      "end_frame": 149,
+      "segment_index": 27,
+      "boundary_tolerance_frames": 13,
+      "task_index": 7,
+      "source_task_key": "pack_objects_into_box",
+      "semantic_id": "pack_objects_into_box/S2",
+      "subtask_text_en": "Place the shoe into the box.",
+      "subtask_text_zh": "将鞋放入盒子。",
+      "inclusive_end_frame": 148,
+      "global_start_index": 4142,
+      "global_end_index": 4219,
+      "start_timestamp_seconds": 2.88,
+      "end_timestamp_seconds": 5.96,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 7,
+      "task_key": "pack_objects_into_box",
+      "subtask_id": "S3",
+      "start_frame": 149,
+      "end_frame": 254,
+      "segment_index": 28,
+      "boundary_tolerance_frames": 13,
+      "task_index": 7,
+      "source_task_key": "pack_objects_into_box",
+      "semantic_id": "pack_objects_into_box/S3",
+      "subtask_text_en": "Place the hammer into the box.",
+      "subtask_text_zh": "将锤子放入盒子。",
+      "inclusive_end_frame": 253,
+      "global_start_index": 4219,
+      "global_end_index": 4324,
+      "start_timestamp_seconds": 5.96,
+      "end_timestamp_seconds": 10.16,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 7,
+      "task_key": "pack_objects_into_box",
+      "subtask_id": "S4",
+      "start_frame": 254,
+      "end_frame": 319,
+      "segment_index": 29,
+      "boundary_tolerance_frames": 13,
+      "task_index": 7,
+      "source_task_key": "pack_objects_into_box",
+      "semantic_id": "pack_objects_into_box/S4",
+      "subtask_text_en": "Place the toothbrush into the box.",
+      "subtask_text_zh": "将牙刷放入盒子。",
+      "inclusive_end_frame": 318,
+      "global_start_index": 4324,
+      "global_end_index": 4389,
+      "start_timestamp_seconds": 10.16,
+      "end_timestamp_seconds": 12.76,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 7,
+      "task_key": "pack_objects_into_box",
+      "subtask_id": "S5",
+      "start_frame": 319,
+      "end_frame": 414,
+      "segment_index": 30,
+      "boundary_tolerance_frames": 13,
+      "task_index": 7,
+      "source_task_key": "pack_objects_into_box",
+      "semantic_id": "pack_objects_into_box/S5",
+      "subtask_text_en": "Place the toy car into the box.",
+      "subtask_text_zh": "将玩具车放入盒子。",
+      "inclusive_end_frame": 413,
+      "global_start_index": 4389,
+      "global_end_index": 4484,
+      "start_timestamp_seconds": 12.76,
+      "end_timestamp_seconds": 16.56,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 8,
+      "task_key": "play_stacking_toy",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 332,
+      "segment_index": 31,
+      "boundary_tolerance_frames": 13,
+      "task_index": 8,
+      "source_task_key": "play_stacking_toy",
+      "semantic_id": "play_stacking_toy/S1",
+      "subtask_text_en": "Place the four matching pieces on the longest peg.",
+      "subtask_text_zh": "将四个匹配配件放到最长柱子上。",
+      "inclusive_end_frame": 331,
+      "global_start_index": 4484,
+      "global_end_index": 4816,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 13.28,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 8,
+      "task_key": "play_stacking_toy",
+      "subtask_id": "S2",
+      "start_frame": 332,
+      "end_frame": 605,
+      "segment_index": 32,
+      "boundary_tolerance_frames": 13,
+      "task_index": 8,
+      "source_task_key": "play_stacking_toy",
+      "semantic_id": "play_stacking_toy/S2",
+      "subtask_text_en": "Place the three matching pieces on the second-longest peg.",
+      "subtask_text_zh": "将三个匹配配件放到第二长柱子上。",
+      "inclusive_end_frame": 604,
+      "global_start_index": 4816,
+      "global_end_index": 5089,
+      "start_timestamp_seconds": 13.28,
+      "end_timestamp_seconds": 24.2,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 8,
+      "task_key": "play_stacking_toy",
+      "subtask_id": "S3",
+      "start_frame": 605,
+      "end_frame": 774,
+      "segment_index": 33,
+      "boundary_tolerance_frames": 13,
+      "task_index": 8,
+      "source_task_key": "play_stacking_toy",
+      "semantic_id": "play_stacking_toy/S3",
+      "subtask_text_en": "Place the two matching pieces on the second-shortest peg.",
+      "subtask_text_zh": "将两个匹配配件放到第二短柱子上。",
+      "inclusive_end_frame": 773,
+      "global_start_index": 5089,
+      "global_end_index": 5258,
+      "start_timestamp_seconds": 24.2,
+      "end_timestamp_seconds": 30.96,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 8,
+      "task_key": "play_stacking_toy",
+      "subtask_id": "S4",
+      "start_frame": 774,
+      "end_frame": 888,
+      "segment_index": 34,
+      "boundary_tolerance_frames": 13,
+      "task_index": 8,
+      "source_task_key": "play_stacking_toy",
+      "semantic_id": "play_stacking_toy/S4",
+      "subtask_text_en": "Place the remaining piece on the shortest peg.",
+      "subtask_text_zh": "将剩余配件放到最短柱子上。",
+      "inclusive_end_frame": 887,
+      "global_start_index": 5258,
+      "global_end_index": 5372,
+      "start_timestamp_seconds": 30.96,
+      "end_timestamp_seconds": 35.52,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 9,
+      "task_key": "press_by_number",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 195,
+      "segment_index": 35,
+      "boundary_tolerance_frames": 13,
+      "task_index": 9,
+      "source_task_key": "press_by_number",
+      "semantic_id": "press_by_number/S1",
+      "subtask_text_en": "Press the first button the required number of times.",
+      "subtask_text_zh": "按要求次数按第一个按钮。",
+      "inclusive_end_frame": 194,
+      "global_start_index": 5372,
+      "global_end_index": 5567,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 7.8,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 9,
+      "task_key": "press_by_number",
+      "subtask_id": "S2",
+      "start_frame": 195,
+      "end_frame": 247,
+      "segment_index": 36,
+      "boundary_tolerance_frames": 13,
+      "task_index": 9,
+      "source_task_key": "press_by_number",
+      "semantic_id": "press_by_number/S2",
+      "subtask_text_en": "Press the blue button.",
+      "subtask_text_zh": "按蓝色按钮。",
+      "inclusive_end_frame": 246,
+      "global_start_index": 5567,
+      "global_end_index": 5619,
+      "start_timestamp_seconds": 7.8,
+      "end_timestamp_seconds": 9.88,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 9,
+      "task_key": "press_by_number",
+      "subtask_id": "S3",
+      "start_frame": 247,
+      "end_frame": 312,
+      "segment_index": 37,
+      "boundary_tolerance_frames": 13,
+      "task_index": 9,
+      "source_task_key": "press_by_number",
+      "semantic_id": "press_by_number/S3",
+      "subtask_text_en": "Press the second button the required number of times.",
+      "subtask_text_zh": "按要求次数按第二个按钮。",
+      "inclusive_end_frame": 311,
+      "global_start_index": 5619,
+      "global_end_index": 5684,
+      "start_timestamp_seconds": 9.88,
+      "end_timestamp_seconds": 12.48,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 9,
+      "task_key": "press_by_number",
+      "subtask_id": "S4",
+      "start_frame": 312,
+      "end_frame": 378,
+      "segment_index": 38,
+      "boundary_tolerance_frames": 13,
+      "task_index": 9,
+      "source_task_key": "press_by_number",
+      "semantic_id": "press_by_number/S4",
+      "subtask_text_en": "Press the blue button again.",
+      "subtask_text_zh": "再次按蓝色按钮。",
+      "inclusive_end_frame": 377,
+      "global_start_index": 5684,
+      "global_end_index": 5750,
+      "start_timestamp_seconds": 12.48,
+      "end_timestamp_seconds": 15.12,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 10,
+      "task_key": "put_bottles_into_dustbin",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 58,
+      "segment_index": 39,
+      "boundary_tolerance_frames": 13,
+      "task_index": 10,
+      "source_task_key": "put_bottles_into_dustbin",
+      "semantic_id": "put_bottles_into_dustbin/S1",
+      "subtask_text_en": "Place the first bottle in the dustbin.",
+      "subtask_text_zh": "将第一个瓶子放入垃圾桶。",
+      "inclusive_end_frame": 57,
+      "global_start_index": 5750,
+      "global_end_index": 5808,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 2.32,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 10,
+      "task_key": "put_bottles_into_dustbin",
+      "subtask_id": "S2",
+      "start_frame": 58,
+      "end_frame": 124,
+      "segment_index": 40,
+      "boundary_tolerance_frames": 13,
+      "task_index": 10,
+      "source_task_key": "put_bottles_into_dustbin",
+      "semantic_id": "put_bottles_into_dustbin/S2",
+      "subtask_text_en": "Place the second bottle in the dustbin.",
+      "subtask_text_zh": "将第二个瓶子放入垃圾桶。",
+      "inclusive_end_frame": 123,
+      "global_start_index": 5808,
+      "global_end_index": 5874,
+      "start_timestamp_seconds": 2.32,
+      "end_timestamp_seconds": 4.96,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 10,
+      "task_key": "put_bottles_into_dustbin",
+      "subtask_id": "S3",
+      "start_frame": 124,
+      "end_frame": 201,
+      "segment_index": 41,
+      "boundary_tolerance_frames": 13,
+      "task_index": 10,
+      "source_task_key": "put_bottles_into_dustbin",
+      "semantic_id": "put_bottles_into_dustbin/S3",
+      "subtask_text_en": "Place the third bottle in the dustbin.",
+      "subtask_text_zh": "将第三个瓶子放入垃圾桶。",
+      "inclusive_end_frame": 200,
+      "global_start_index": 5874,
+      "global_end_index": 5951,
+      "start_timestamp_seconds": 4.96,
+      "end_timestamp_seconds": 8.04,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 10,
+      "task_key": "put_bottles_into_dustbin",
+      "subtask_id": "S4",
+      "start_frame": 201,
+      "end_frame": 363,
+      "segment_index": 42,
+      "boundary_tolerance_frames": 13,
+      "task_index": 10,
+      "source_task_key": "put_bottles_into_dustbin",
+      "semantic_id": "put_bottles_into_dustbin/S4",
+      "subtask_text_en": "Place the last bottle in the dustbin.",
+      "subtask_text_zh": "将最后一个瓶子放入垃圾桶。",
+      "inclusive_end_frame": 362,
+      "global_start_index": 5951,
+      "global_end_index": 6113,
+      "start_timestamp_seconds": 8.04,
+      "end_timestamp_seconds": 14.52,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 11,
+      "task_key": "stack_blocks",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 98,
+      "segment_index": 43,
+      "boundary_tolerance_frames": 13,
+      "task_index": 11,
+      "source_task_key": "stack_blocks",
+      "semantic_id": "stack_blocks/S1",
+      "subtask_text_en": "Place the first block in the center of the table.",
+      "subtask_text_zh": "将第一块积木放到桌面中央。",
+      "inclusive_end_frame": 97,
+      "global_start_index": 6113,
+      "global_end_index": 6211,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 3.92,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 11,
+      "task_key": "stack_blocks",
+      "subtask_id": "S2",
+      "start_frame": 98,
+      "end_frame": 175,
+      "segment_index": 44,
+      "boundary_tolerance_frames": 13,
+      "task_index": 11,
+      "source_task_key": "stack_blocks",
+      "semantic_id": "stack_blocks/S2",
+      "subtask_text_en": "Place the second block on the first block.",
+      "subtask_text_zh": "将第二块积木放到第一块上。",
+      "inclusive_end_frame": 174,
+      "global_start_index": 6211,
+      "global_end_index": 6288,
+      "start_timestamp_seconds": 3.92,
+      "end_timestamp_seconds": 7.0,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 11,
+      "task_key": "stack_blocks",
+      "subtask_id": "S3",
+      "start_frame": 175,
+      "end_frame": 268,
+      "segment_index": 45,
+      "boundary_tolerance_frames": 13,
+      "task_index": 11,
+      "source_task_key": "stack_blocks",
+      "semantic_id": "stack_blocks/S3",
+      "subtask_text_en": "Place the third block on the second block.",
+      "subtask_text_zh": "将第三块积木放到第二块上。",
+      "inclusive_end_frame": 267,
+      "global_start_index": 6288,
+      "global_end_index": 6381,
+      "start_timestamp_seconds": 7.0,
+      "end_timestamp_seconds": 10.72,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 12,
+      "task_key": "store_laptop_and_headphones",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 111,
+      "segment_index": 46,
+      "boundary_tolerance_frames": 13,
+      "task_index": 12,
+      "source_task_key": "store_laptop_and_headphones",
+      "semantic_id": "store_laptop_and_headphones/S1",
+      "subtask_text_en": "Place the headphones on the headphone stand.",
+      "subtask_text_zh": "将耳机放到耳机架上。",
+      "inclusive_end_frame": 110,
+      "global_start_index": 6381,
+      "global_end_index": 6492,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 4.44,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 12,
+      "task_key": "store_laptop_and_headphones",
+      "subtask_id": "S2",
+      "start_frame": 111,
+      "end_frame": 211,
+      "segment_index": 47,
+      "boundary_tolerance_frames": 13,
+      "task_index": 12,
+      "source_task_key": "store_laptop_and_headphones",
+      "semantic_id": "store_laptop_and_headphones/S2",
+      "subtask_text_en": "Close the laptop.",
+      "subtask_text_zh": "合上笔记本电脑。",
+      "inclusive_end_frame": 210,
+      "global_start_index": 6492,
+      "global_end_index": 6592,
+      "start_timestamp_seconds": 4.44,
+      "end_timestamp_seconds": 8.44,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 12,
+      "task_key": "store_laptop_and_headphones",
+      "subtask_id": "S3",
+      "start_frame": 211,
+      "end_frame": 551,
+      "segment_index": 48,
+      "boundary_tolerance_frames": 13,
+      "task_index": 12,
+      "source_task_key": "store_laptop_and_headphones",
+      "semantic_id": "store_laptop_and_headphones/S3",
+      "subtask_text_en": "Place the closed laptop in the laptop stand.",
+      "subtask_text_zh": "将合上的笔记本电脑放入电脑支架。",
+      "inclusive_end_frame": 550,
+      "global_start_index": 6592,
+      "global_end_index": 6932,
+      "start_timestamp_seconds": 8.44,
+      "end_timestamp_seconds": 22.04,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 13,
+      "task_key": "swap_blocks",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 91,
+      "segment_index": 49,
+      "boundary_tolerance_frames": 13,
+      "task_index": 13,
+      "source_task_key": "swap_blocks",
+      "semantic_id": "swap_blocks/S1",
+      "subtask_text_en": "Put the first block on the empty mat.",
+      "subtask_text_zh": "将第一块积木放到空垫子上。",
+      "inclusive_end_frame": 90,
+      "global_start_index": 6932,
+      "global_end_index": 7023,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 3.64,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 13,
+      "task_key": "swap_blocks",
+      "subtask_id": "S2",
+      "start_frame": 91,
+      "end_frame": 143,
+      "segment_index": 50,
+      "boundary_tolerance_frames": 13,
+      "task_index": 13,
+      "source_task_key": "swap_blocks",
+      "semantic_id": "swap_blocks/S2",
+      "subtask_text_en": "Press the button to confirm the first move.",
+      "subtask_text_zh": "按按钮确认第一次移动。",
+      "inclusive_end_frame": 142,
+      "global_start_index": 7023,
+      "global_end_index": 7075,
+      "start_timestamp_seconds": 3.64,
+      "end_timestamp_seconds": 5.72,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 13,
+      "task_key": "swap_blocks",
+      "subtask_id": "S3",
+      "start_frame": 143,
+      "end_frame": 234,
+      "segment_index": 51,
+      "boundary_tolerance_frames": 13,
+      "task_index": 13,
+      "source_task_key": "swap_blocks",
+      "semantic_id": "swap_blocks/S3",
+      "subtask_text_en": "Transfer the second block onto the original first block’s position.",
+      "subtask_text_zh": "将第二块积木移到第一块积木的原位置。",
+      "inclusive_end_frame": 233,
+      "global_start_index": 7075,
+      "global_end_index": 7166,
+      "start_timestamp_seconds": 5.72,
+      "end_timestamp_seconds": 9.36,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 13,
+      "task_key": "swap_blocks",
+      "subtask_id": "S4",
+      "start_frame": 234,
+      "end_frame": 286,
+      "segment_index": 52,
+      "boundary_tolerance_frames": 13,
+      "task_index": 13,
+      "source_task_key": "swap_blocks",
+      "semantic_id": "swap_blocks/S4",
+      "subtask_text_en": "Press the button to confirm the second move.",
+      "subtask_text_zh": "按按钮确认第二次移动。",
+      "inclusive_end_frame": 285,
+      "global_start_index": 7166,
+      "global_end_index": 7218,
+      "start_timestamp_seconds": 9.36,
+      "end_timestamp_seconds": 11.44,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 13,
+      "task_key": "swap_blocks",
+      "subtask_id": "S5",
+      "start_frame": 286,
+      "end_frame": 377,
+      "segment_index": 53,
+      "boundary_tolerance_frames": 13,
+      "task_index": 13,
+      "source_task_key": "swap_blocks",
+      "semantic_id": "swap_blocks/S5",
+      "subtask_text_en": "Put the first block on the original second block’s mat.",
+      "subtask_text_zh": "将第一块积木放到第二块积木原先所在的垫子上。",
+      "inclusive_end_frame": 376,
+      "global_start_index": 7218,
+      "global_end_index": 7309,
+      "start_timestamp_seconds": 11.44,
+      "end_timestamp_seconds": 15.08,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 13,
+      "task_key": "swap_blocks",
+      "subtask_id": "S6",
+      "start_frame": 377,
+      "end_frame": 445,
+      "segment_index": 54,
+      "boundary_tolerance_frames": 13,
+      "task_index": 13,
+      "source_task_key": "swap_blocks",
+      "semantic_id": "swap_blocks/S6",
+      "subtask_text_en": "Press the button to confirm the last move.",
+      "subtask_text_zh": "按按钮确认最后一次移动。",
+      "inclusive_end_frame": 444,
+      "global_start_index": 7309,
+      "global_end_index": 7377,
+      "start_timestamp_seconds": 15.08,
+      "end_timestamp_seconds": 17.8,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 14,
+      "task_key": "sweep_blocks",
+      "subtask_id": "S1",
+      "start_frame": 0,
+      "end_frame": 214,
+      "segment_index": 55,
+      "boundary_tolerance_frames": 13,
+      "task_index": 14,
+      "source_task_key": "sweep_objects",
+      "semantic_id": "sweep_blocks/S1",
+      "subtask_text_en": "Pick up the broom.",
+      "subtask_text_zh": "拿起扫帚。",
+      "inclusive_end_frame": 213,
+      "global_start_index": 7377,
+      "global_end_index": 7591,
+      "start_timestamp_seconds": 0.0,
+      "end_timestamp_seconds": 8.56,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 14,
+      "task_key": "sweep_blocks",
+      "subtask_id": "S2",
+      "start_frame": 214,
+      "end_frame": 381,
+      "segment_index": 56,
+      "boundary_tolerance_frames": 13,
+      "task_index": 14,
+      "source_task_key": "sweep_objects",
+      "semantic_id": "sweep_blocks/S2",
+      "subtask_text_en": "Pick up the dustpan.",
+      "subtask_text_zh": "拿起簸箕。",
+      "inclusive_end_frame": 380,
+      "global_start_index": 7591,
+      "global_end_index": 7758,
+      "start_timestamp_seconds": 8.56,
+      "end_timestamp_seconds": 15.24,
+      "annotation_status": "user_confirmed_release"
+    },
+    {
+      "episode_index": 14,
+      "task_key": "sweep_blocks",
+      "subtask_id": "S3",
+      "start_frame": 381,
+      "end_frame": 703,
+      "segment_index": 57,
+      "boundary_tolerance_frames": 13,
+      "task_index": 14,
+      "source_task_key": "sweep_objects",
+      "semantic_id": "sweep_blocks/S3",
+      "subtask_text_en": "Sweep all objects into the dustpan.",
+      "subtask_text_zh": "将全部物体扫入簸箕。",
+      "inclusive_end_frame": 702,
+      "global_start_index": 7758,
+      "global_end_index": 8080,
+      "start_timestamp_seconds": 15.24,
+      "end_timestamp_seconds": 28.12,
+      "annotation_status": "user_confirmed_release"
+    }
+  ]
+}

data/simulation/one-shot/annotations/subtasks/segments.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b59c48d8fe127b5e709cece59194c34d8b4b11d20b783d7e027d4f3d271ba059
+size 12243

data/simulation/one-shot/annotations/subtasks/taxonomy.json

@@ -0,0 +1,528 @@
+{
+  "schema_version": 1,
+  "paper": {
+    "url": "https://arxiv.org/abs/2610.26663",
+    "revision": "2610.26663v1",
+    "section": "C.2 Task Descriptions and Subtask Decomposition"
+  },
+  "task_count": 15,
+  "subtask_count": 58,
+  "english_labels": "Verbatim printed S definitions; PDF line wrapping removed.",
+  "chinese_labels": "Translations of the English subtask definitions.",
+  "semantic_id_convention": "task_key/Sn; identifies a semantic subtask, not a universal execution-order counter",
+  "tasks": [
+    {
+      "episode_index": 0,
+      "task_index": 0,
+      "task_key": "arrange_largest_number",
+      "source_task_key": "arrange_largest_number",
+      "paper_title_en": "Arrange Largest Number",
+      "task_name_zh": "排列数字组成最大数",
+      "paper_pdf_page": 29,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "arrange_largest_number/S1",
+          "paper_text_en": "Place the largest number on the leftmost mat.",
+          "translation_zh": "将最大的数字放到最左侧垫子。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "arrange_largest_number/S2",
+          "paper_text_en": "Place the largest number outside the mats on the second mat from the left.",
+          "translation_zh": "将垫子外最大的数字放到左起第二个垫子。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "arrange_largest_number/S3",
+          "paper_text_en": "Place the largest number outside the mats on the third mat from the left.",
+          "translation_zh": "将垫子外最大的数字放到左起第三个垫子。"
+        },
+        {
+          "id": "S4",
+          "semantic_id": "arrange_largest_number/S4",
+          "paper_text_en": "Place the remaining number on the fourth mat from the left.",
+          "translation_zh": "将剩余数字放到左起第四个垫子。"
+        }
+      ]
+    },
+    {
+      "episode_index": 1,
+      "task_index": 1,
+      "task_key": "fill_pen_holder",
+      "source_task_key": "fill_pen_holder",
+      "paper_title_en": "Fill Pen Holder",
+      "task_name_zh": "装填笔筒",
+      "paper_pdf_page": 29,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "fill_pen_holder/S1",
+          "paper_text_en": "Hold the empty pen holder.",
+          "translation_zh": "拿住空笔筒。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "fill_pen_holder/S2",
+          "paper_text_en": "Insert the first selected pen into the pen holder.",
+          "translation_zh": "将第一支选中的笔插入笔筒。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "fill_pen_holder/S3",
+          "paper_text_en": "Insert the second selected pen into the pen holder.",
+          "translation_zh": "将第二支选中的笔插入笔筒。"
+        },
+        {
+          "id": "S4",
+          "semantic_id": "fill_pen_holder/S4",
+          "paper_text_en": "Insert the third selected pen into the pen holder.",
+          "translation_zh": "将第三支选中的笔插入笔筒。"
+        },
+        {
+          "id": "S5",
+          "semantic_id": "fill_pen_holder/S5",
+          "paper_text_en": "Insert the remaining pen into the pen holder.",
+          "translation_zh": "将剩余的一支笔插入笔筒。"
+        },
+        {
+          "id": "S6",
+          "semantic_id": "fill_pen_holder/S6",
+          "paper_text_en": "Place the filled pen holder upright on the table.",
+          "translation_zh": "将装满的笔筒直立放在桌上。"
+        }
+      ]
+    },
+    {
+      "episode_index": 2,
+      "task_index": 2,
+      "task_key": "fold_clothes",
+      "source_task_key": "fold_clothes",
+      "paper_title_en": "Fold Clothes",
+      "task_name_zh": "折叠衣物",
+      "paper_pdf_page": 30,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "fold_clothes/S1",
+          "paper_text_en": "Fold the left sleeve inward.",
+          "translation_zh": "将左袖向内折。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "fold_clothes/S2",
+          "paper_text_en": "Fold the right sleeve inward.",
+          "translation_zh": "将右袖向内折。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "fold_clothes/S3",
+          "paper_text_en": "Fold the lower half of the garment over the upper half.",
+          "translation_zh": "将衣物下半部分折到上半部分之上。"
+        }
+      ]
+    },
+    {
+      "episode_index": 3,
+      "task_index": 3,
+      "task_key": "hang_mugs",
+      "source_task_key": "hang_mugs",
+      "paper_title_en": "Hang Mugs",
+      "task_name_zh": "悬挂马克杯",
+      "paper_pdf_page": 30,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "hang_mugs/S1",
+          "paper_text_en": "Hang the first cup on an empty hook.",
+          "translation_zh": "将第一个杯子挂在空挂钩上。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "hang_mugs/S2",
+          "paper_text_en": "Hang the second cup on another empty hook.",
+          "translation_zh": "将第二个杯子挂在另一个空挂钩上。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "hang_mugs/S3",
+          "paper_text_en": "Hang the third cup on the remaining empty hook.",
+          "translation_zh": "将第三个杯子挂在剩余空挂钩上。"
+        }
+      ]
+    },
+    {
+      "episode_index": 4,
+      "task_index": 4,
+      "task_key": "insert_tubes",
+      "source_task_key": "insert_tubes",
+      "paper_title_en": "Insert Tubes",
+      "task_name_zh": "插入管子",
+      "paper_pdf_page": 31,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "insert_tubes/S1",
+          "paper_text_en": "Insert the first tube into an empty slot.",
+          "translation_zh": "将第一根管插入空槽。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "insert_tubes/S2",
+          "paper_text_en": "Insert the second tube into another empty slot.",
+          "translation_zh": "将第二根管插入另一个空槽。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "insert_tubes/S3",
+          "paper_text_en": "Insert the third tube into the remaining empty slot.",
+          "translation_zh": "将第三根管插入剩余空槽。"
+        }
+      ]
+    },
+    {
+      "episode_index": 5,
+      "task_index": 5,
+      "task_key": "make_toast",
+      "source_task_key": "make_toast",
+      "paper_title_en": "Make Toast",
+      "task_name_zh": "制作吐司",
+      "paper_pdf_page": 31,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "make_toast/S1",
+          "paper_text_en": "Insert the first bread slice into one toaster slot.",
+          "translation_zh": "将第一片面包插入一个烤面包机槽。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "make_toast/S2",
+          "paper_text_en": "Insert the second bread slice into the remaining toaster slot.",
+          "translation_zh": "将第二片面包插入剩余烤面包机槽。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "make_toast/S3",
+          "paper_text_en": "Press the toaster lever down.",
+          "translation_zh": "按下烤面包机拉杆。"
+        }
+      ]
+    },
+    {
+      "episode_index": 6,
+      "task_index": 6,
+      "task_key": "organize_table",
+      "source_task_key": "organize_table",
+      "paper_title_en": "Organize Table",
+      "task_name_zh": "整理桌面",
+      "paper_pdf_page": 32,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "organize_table/S1",
+          "paper_text_en": "Place the alarm clock on top of the drawer.",
+          "translation_zh": "将闹钟放到抽屉顶部。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "organize_table/S2",
+          "paper_text_en": "Place the figurine on the stand.",
+          "translation_zh": "将摆件放到支架上。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "organize_table/S3",
+          "paper_text_en": "Place the mouse on the mouse pad.",
+          "translation_zh": "将鼠标放到鼠标垫上。"
+        },
+        {
+          "id": "S4",
+          "semantic_id": "organize_table/S4",
+          "paper_text_en": "Insert the keyboard into the frame.",
+          "translation_zh": "将键盘推入框架。"
+        }
+      ]
+    },
+    {
+      "episode_index": 7,
+      "task_index": 7,
+      "task_key": "pack_objects_into_box",
+      "source_task_key": "pack_objects_into_box",
+      "paper_title_en": "Pack Objects Into Box",
+      "task_name_zh": "将物品装入盒中",
+      "paper_pdf_page": 33,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "pack_objects_into_box/S1",
+          "paper_text_en": "Clear the center of the table, then place the box in the center of the table.",
+          "translation_zh": "清空桌面中央，再将盒子放到桌面中央。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "pack_objects_into_box/S2",
+          "paper_text_en": "Place the shoe into the box.",
+          "translation_zh": "将鞋放入盒子。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "pack_objects_into_box/S3",
+          "paper_text_en": "Place the hammer into the box.",
+          "translation_zh": "将锤子放入盒子。"
+        },
+        {
+          "id": "S4",
+          "semantic_id": "pack_objects_into_box/S4",
+          "paper_text_en": "Place the toothbrush into the box.",
+          "translation_zh": "将牙刷放入盒子。"
+        },
+        {
+          "id": "S5",
+          "semantic_id": "pack_objects_into_box/S5",
+          "paper_text_en": "Place the toy car into the box.",
+          "translation_zh": "将玩具车放入盒子。"
+        }
+      ]
+    },
+    {
+      "episode_index": 8,
+      "task_index": 8,
+      "task_key": "play_stacking_toy",
+      "source_task_key": "play_stacking_toy",
+      "paper_title_en": "Play Stacking Toy",
+      "task_name_zh": "操作堆叠玩具",
+      "paper_pdf_page": 34,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "play_stacking_toy/S1",
+          "paper_text_en": "Place the four matching pieces on the longest peg.",
+          "translation_zh": "将四个匹配配件放到最长柱子上。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "play_stacking_toy/S2",
+          "paper_text_en": "Place the three matching pieces on the second-longest peg.",
+          "translation_zh": "将三个匹配配件放到第二长柱子上。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "play_stacking_toy/S3",
+          "paper_text_en": "Place the two matching pieces on the second-shortest peg.",
+          "translation_zh": "将两个匹配配件放到第二短柱子上。"
+        },
+        {
+          "id": "S4",
+          "semantic_id": "play_stacking_toy/S4",
+          "paper_text_en": "Place the remaining piece on the shortest peg.",
+          "translation_zh": "将剩余配件放到最短柱子上。"
+        }
+      ]
+    },
+    {
+      "episode_index": 9,
+      "task_index": 9,
+      "task_key": "press_by_number",
+      "source_task_key": "press_by_number",
+      "paper_title_en": "Press By Number",
+      "task_name_zh": "依照数字按按钮",
+      "paper_pdf_page": 32,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "press_by_number/S1",
+          "paper_text_en": "Press the first button the required number of times.",
+          "translation_zh": "按要求次数按第一个按钮。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "press_by_number/S2",
+          "paper_text_en": "Press the blue button.",
+          "translation_zh": "按蓝色按钮。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "press_by_number/S3",
+          "paper_text_en": "Press the second button the required number of times.",
+          "translation_zh": "按要求次数按第二个按钮。"
+        },
+        {
+          "id": "S4",
+          "semantic_id": "press_by_number/S4",
+          "paper_text_en": "Press the blue button again.",
+          "translation_zh": "再次按蓝色按钮。"
+        }
+      ]
+    },
+    {
+      "episode_index": 10,
+      "task_index": 10,
+      "task_key": "put_bottles_into_dustbin",
+      "source_task_key": "put_bottles_into_dustbin",
+      "paper_title_en": "Put Bottles Into Dustbin",
+      "task_name_zh": "将瓶子放入垃圾桶",
+      "paper_pdf_page": 33,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "put_bottles_into_dustbin/S1",
+          "paper_text_en": "Place the first bottle in the dustbin.",
+          "translation_zh": "将第一个瓶子放入垃圾桶。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "put_bottles_into_dustbin/S2",
+          "paper_text_en": "Place the second bottle in the dustbin.",
+          "translation_zh": "将第二个瓶子放入垃圾桶。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "put_bottles_into_dustbin/S3",
+          "paper_text_en": "Place the third bottle in the dustbin.",
+          "translation_zh": "将第三个瓶子放入垃圾桶。"
+        },
+        {
+          "id": "S4",
+          "semantic_id": "put_bottles_into_dustbin/S4",
+          "paper_text_en": "Place the last bottle in the dustbin.",
+          "translation_zh": "将最后一个瓶子放入垃圾桶。"
+        }
+      ]
+    },
+    {
+      "episode_index": 11,
+      "task_index": 11,
+      "task_key": "stack_blocks",
+      "source_task_key": "stack_blocks",
+      "paper_title_en": "Stack Blocks",
+      "task_name_zh": "堆叠积木",
+      "paper_pdf_page": 34,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "stack_blocks/S1",
+          "paper_text_en": "Place the first block in the center of the table.",
+          "translation_zh": "将第一块积木放到桌面中央。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "stack_blocks/S2",
+          "paper_text_en": "Place the second block on the first block.",
+          "translation_zh": "将第二块积木放到第一块上。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "stack_blocks/S3",
+          "paper_text_en": "Place the third block on the second block.",
+          "translation_zh": "将第三块积木放到第二块上。"
+        }
+      ]
+    },
+    {
+      "episode_index": 12,
+      "task_index": 12,
+      "task_key": "store_laptop_and_headphones",
+      "source_task_key": "store_laptop_and_headphones",
+      "paper_title_en": "Store Laptop And Headphones",
+      "task_name_zh": "��纳笔记本电脑与耳机",
+      "paper_pdf_page": 35,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "store_laptop_and_headphones/S1",
+          "paper_text_en": "Place the headphones on the headphone stand.",
+          "translation_zh": "将耳机放到耳机架上。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "store_laptop_and_headphones/S2",
+          "paper_text_en": "Close the laptop.",
+          "translation_zh": "合上笔记本电脑。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "store_laptop_and_headphones/S3",
+          "paper_text_en": "Place the closed laptop in the laptop stand.",
+          "translation_zh": "将合上的笔记本电脑放入电脑支架。"
+        }
+      ]
+    },
+    {
+      "episode_index": 13,
+      "task_index": 13,
+      "task_key": "swap_blocks",
+      "source_task_key": "swap_blocks",
+      "paper_title_en": "Swap Blocks",
+      "task_name_zh": "交换积木位置",
+      "paper_pdf_page": 35,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "swap_blocks/S1",
+          "paper_text_en": "Put the first block on the empty mat.",
+          "translation_zh": "将第一块积木放到空垫子上。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "swap_blocks/S2",
+          "paper_text_en": "Press the button to confirm the first move.",
+          "translation_zh": "按按钮确认第一次移动。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "swap_blocks/S3",
+          "paper_text_en": "Transfer the second block onto the original first block’s position.",
+          "translation_zh": "将第二块积木移到第一块积木的原位置。"
+        },
+        {
+          "id": "S4",
+          "semantic_id": "swap_blocks/S4",
+          "paper_text_en": "Press the button to confirm the second move.",
+          "translation_zh": "按按钮确认第二次移动。"
+        },
+        {
+          "id": "S5",
+          "semantic_id": "swap_blocks/S5",
+          "paper_text_en": "Put the first block on the original second block’s mat.",
+          "translation_zh": "将第一块积木放到第二块积木原先所在的垫子上。"
+        },
+        {
+          "id": "S6",
+          "semantic_id": "swap_blocks/S6",
+          "paper_text_en": "Press the button to confirm the last move.",
+          "translation_zh": "按按钮确认最后一次移动。"
+        }
+      ]
+    },
+    {
+      "episode_index": 14,
+      "task_index": 14,
+      "task_key": "sweep_blocks",
+      "source_task_key": "sweep_objects",
+      "paper_title_en": "Sweep Blocks",
+      "task_name_zh": "清扫积木",
+      "paper_pdf_page": 36,
+      "subtasks": [
+        {
+          "id": "S1",
+          "semantic_id": "sweep_blocks/S1",
+          "paper_text_en": "Pick up the broom.",
+          "translation_zh": "拿起扫帚。"
+        },
+        {
+          "id": "S2",
+          "semantic_id": "sweep_blocks/S2",
+          "paper_text_en": "Pick up the dustpan.",
+          "translation_zh": "拿起簸箕。"
+        },
+        {
+          "id": "S3",
+          "semantic_id": "sweep_blocks/S3",
+          "paper_text_en": "Sweep all objects into the dustpan.",
+          "translation_zh": "将全部物体扫入簸箕。"
+        }
+      ]
+    }
+  ]
+}

data/simulation/one-shot/annotations/subtasks/validation.json

@@ -0,0 +1,71 @@
+{
+  "schema_version": 1,
+  "status": "passed",
+  "annotation_status": "user_confirmed_release",
+  "annotation_revision": 2,
+  "source_dataset": {
+    "repo_id": "wzlllong/value-model-benchmark-training-data",
+    "subtree": "data/simulation/one-shot",
+    "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
+    "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
+  },
+  "checks": {
+    "episodes": 15,
+    "segments": 58,
+    "paper_subtasks": 58,
+    "frame_rows": 8080,
+    "all_labels_are_paper_subtasks": true,
+    "gaps": 0,
+    "overlaps": 0,
+    "frames_discarded": 0,
+    "unique_episode_frame_keys": true,
+    "continuous_global_index": true,
+    "complete_episode_coverage": true,
+    "taxonomy_text_matches_verified_transcription": true,
+    "public_field_allowlist": true
+  },
+  "specified_boundary_frame_labels": [
+    {
+      "episode_index": 9,
+      "frame_index": 0,
+      "subtask_id": "S1"
+    },
+    {
+      "episode_index": 9,
+      "frame_index": 12,
+      "subtask_id": "S1"
+    },
+    {
+      "episode_index": 12,
+      "frame_index": 210,
+      "subtask_id": "S2"
+    },
+    {
+      "episode_index": 12,
+      "frame_index": 211,
+      "subtask_id": "S3"
+    },
+    {
+      "episode_index": 14,
+      "frame_index": 213,
+      "subtask_id": "S1"
+    },
+    {
+      "episode_index": 14,
+      "frame_index": 214,
+      "subtask_id": "S2"
+    },
+    {
+      "episode_index": 14,
+      "frame_index": 380,
+      "subtask_id": "S2"
+    },
+    {
+      "episode_index": 14,
+      "frame_index": 381,
+      "subtask_id": "S3"
+    }
+  ],
+  "verification_scope": "Annotation structural checks and accepted user boundary corrections; source revision is fixed. This release does not repeat a full source-video decoding or payload audit.",
+  "source_training_payload_modified": false
+}