diff --git "a/datasets/rmbench/keyframes/put_back_block.json" "b/datasets/rmbench/keyframes/put_back_block.json"
new file mode 100644--- /dev/null
+++ "b/datasets/rmbench/keyframes/put_back_block.json"
@@ -0,0 +1,5252 @@
+{
+  "episode0": {
+    "n_frames": 348,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 311,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode1": {
+    "n_frames": 361,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 40,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 76,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 92,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 111,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 212,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 225,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 256,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 289,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 324,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 360,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode10": {
+    "n_frames": 351,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 249,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 284,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 314,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode11": {
+    "n_frames": 349,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 312,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode12": {
+    "n_frames": 346,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 245,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 279,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 294,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 309,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode13": {
+    "n_frames": 345,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 245,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 278,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 293,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 344,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode14": {
+    "n_frames": 364,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 40,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 76,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 92,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 111,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 212,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 225,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 257,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 291,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 307,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 327,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode15": {
+    "n_frames": 350,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 312,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode16": {
+    "n_frames": 364,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 40,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 76,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 92,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 111,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 213,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 226,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 258,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 292,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 307,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 327,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode17": {
+    "n_frames": 351,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 36,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 72,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 87,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 314,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode18": {
+    "n_frames": 362,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 41,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 77,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 93,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 112,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 213,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 226,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 258,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 291,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 306,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 325,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 361,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode19": {
+    "n_frames": 350,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 37,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 73,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 88,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 313,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode2": {
+    "n_frames": 351,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 36,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 72,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 88,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 103,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 140,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 283,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 314,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode20": {
+    "n_frames": 343,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 99,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 136,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 189,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 200,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 211,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 244,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 277,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 292,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 306,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 342,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode21": {
+    "n_frames": 348,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 245,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 280,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 310,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode22": {
+    "n_frames": 362,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 41,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 77,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 93,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 112,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 213,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 224,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 257,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 290,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 325,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 361,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode23": {
+    "n_frames": 350,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 37,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 73,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 88,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 313,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode24": {
+    "n_frames": 350,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 313,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode25": {
+    "n_frames": 362,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 40,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 76,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 92,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 111,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 212,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 225,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 256,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 290,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 325,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 361,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode26": {
+    "n_frames": 349,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 311,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode27": {
+    "n_frames": 364,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 41,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 77,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 93,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 111,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 212,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 225,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 256,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 292,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 307,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 327,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 363,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode28": {
+    "n_frames": 348,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 36,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 72,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 87,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 312,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode29": {
+    "n_frames": 349,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 312,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode3": {
+    "n_frames": 345,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 212,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 245,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 278,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 293,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 344,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode30": {
+    "n_frames": 348,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 311,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode31": {
+    "n_frames": 346,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 245,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 279,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 294,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 309,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode32": {
+    "n_frames": 362,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 40,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 76,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 92,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 111,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 212,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 223,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 256,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 290,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 325,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 361,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode33": {
+    "n_frames": 350,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 36,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 72,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 87,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 313,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode34": {
+    "n_frames": 350,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 313,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode35": {
+    "n_frames": 353,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 249,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 283,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 299,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 315,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 352,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode36": {
+    "n_frames": 352,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 314,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 351,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode37": {
+    "n_frames": 346,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 213,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 279,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 294,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 309,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 345,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode38": {
+    "n_frames": 349,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 312,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode39": {
+    "n_frames": 350,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 68,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 84,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 312,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode4": {
+    "n_frames": 348,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 311,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode40": {
+    "n_frames": 351,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 37,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 73,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 88,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 249,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 283,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 314,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode41": {
+    "n_frames": 351,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 36,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 72,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 87,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 283,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 298,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 314,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode42": {
+    "n_frames": 351,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 32,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 192,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 203,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 216,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 313,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the front mat."
+      },
+      {
+        "frame_idx": 350,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the front mat."
+      }
+    ]
+  },
+  "episode43": {
+    "n_frames": 347,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 245,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 281,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 296,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 310,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 346,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode44": {
+    "n_frames": 350,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 36,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 72,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 87,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 313,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 349,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode45": {
+    "n_frames": 349,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 247,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 312,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode46": {
+    "n_frames": 348,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 280,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 310,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 347,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode47": {
+    "n_frames": 361,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 41,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 77,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 92,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 111,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 212,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 225,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 257,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 290,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 324,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 360,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode48": {
+    "n_frames": 347,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 191,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 215,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 246,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 280,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 295,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 310,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 346,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  },
+  "episode49": {
+    "n_frames": 361,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 41,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 77,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 93,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 111,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 212,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 225,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 256,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 289,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 304,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 324,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 360,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode5": {
+    "n_frames": 349,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 36,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 72,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 88,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 102,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 139,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 193,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 204,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 217,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 248,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 282,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 297,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 313,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the left mat."
+      },
+      {
+        "frame_idx": 348,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the left mat."
+      }
+    ]
+  },
+  "episode6": {
+    "n_frames": 362,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 40,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 76,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 92,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 111,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 202,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 213,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 224,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 257,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 290,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 325,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 361,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode7": {
+    "n_frames": 361,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 40,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 76,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 92,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 110,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 147,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 200,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 211,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 222,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 255,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 289,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 305,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 324,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 360,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode8": {
+    "n_frames": 363,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 40,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 76,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 92,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 110,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 147,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 200,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 211,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 222,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 255,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 291,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 306,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 326,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the back mat."
+      },
+      {
+        "frame_idx": 362,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the back mat."
+      }
+    ]
+  },
+  "episode9": {
+    "n_frames": 345,
+    "n_keyframes": 14,
+    "instruction": "There are four mats, one block, and a button on the table. One block is on one of the mats. First, put the block to the center, then press the button. Then, put the block back in its original position.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 33,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 69,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 85,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the block and move it to the center position."
+      },
+      {
+        "frame_idx": 137,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 190,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 201,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 214,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Press the button."
+      },
+      {
+        "frame_idx": 245,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 278,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 293,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 308,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Move the block back to the right mat."
+      },
+      {
+        "frame_idx": 344,
+        "reason": "vel_zero+gripper_open_R",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Move the block back to the right mat."
+      }
+    ]
+  }
+}
\ No newline at end of file