diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000092/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000092/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..781438674532ca8d7d2da7254966952365584b5b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000092/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dccb5c055468b07f4ad61f7b823365c45add08f23b32676d6f99b5e237d4f90
+size 10665
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000092/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000092/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d593012273c271cbc1f7e59597cc39d925733d3
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000092/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc5e47607cab56f89adb7339240317c1a94d17c7bff2005fe0447933ed0202d
+size 218957
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000092/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000092/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82bd0da82129ed0899ad5bcde7f79423441aee50
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000092/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14ef2f2ed2fef0afed432cc9a479179df4fb969092c9a381750c0424d83a48d8
+size 222841
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000093/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000093/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..53b1f598356067c7d70fbab66f8b20323a169a95
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000093/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf2aec8aa5252127db8ba8d61a41e319b5ee0fca58de95a500f1ffaace2cb543
+size 16117
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000093/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000093/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d31af182d235387a82cdd6ab2aed9813baa216fb
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000093/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5340ac2c28759ae3d8cda41c4d395c8b19e6e4bc41a4eb93f2c3e26d5d4f080
+size 510115
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000093/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000093/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c4797596f7e26c63bccd8694a045cf7be3416cf
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000093/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11051b926abfa8a7d23ca98204c0e94ccf53ccd53c6192200af6e600c8a998f
+size 508049
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000095/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000095/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e5e6ff32b3391017f40ac57e73cc40bd89c625f0
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000095/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a29ca13d7ad52bc8cfe0a333d18d671751a84de3343acc87ac8e3400e4ac3745
+size 26190
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000095/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000095/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b12e827ca1b8e2e78427854dc82b58587b3390ca
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000095/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02208f1d8bdb3b00de65b63e455229a20a17f9ead312384f92989e0a7b655f19
+size 1072208
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000095/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000095/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83b115b5a64b164e57aa1b443f3f5e55c5a10851
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000018_s000095/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef400e8bffabff72d7c2f742747ffcaa44f5cd020b5bf3506fb80454758c33a
+size 963446
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000088/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000088/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6d337f5adcad6bb94a6666bd695ae94970fe8954
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000088/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee5c6067eaf5254f6a5d0ca7713b19fdd5805409105c33d011348f4caad383e5
+size 11458
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000088/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000088/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97ae64ac4136e12e014be7bb95b213f732929407
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000088/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdf368998abf8d97a3cb6ef859fb84c8c578ec6f04fd034563888651a2ae26ca
+size 274329
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000088/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000088/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0bcccb0534610553af084759b9db5ce7db0d65f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000088/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00a799ce0a4e08f4de0f03534866b7310e75629f53fcf7e03f2873813e7ddb0
+size 233321
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000091/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000091/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..427c8841dc218c0d6e8e982967e40a96f1725965
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000091/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e958852459f4f66cebfaf869bf17e4be0dd7ae040b25e35ef2109984f92044c4
+size 22065
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000091/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000091/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4bce3582e068a54b649f445757d58bfba56d1557
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000091/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b001e47c2b956645aa83dd36d1c70a8bc3e5bb74371762d97ebd1610c3a1348c
+size 901842
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000091/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000091/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f37f56c5204cd5eafb40645da853f64293610a6
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000019_s000091/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06981dd0f8e7fafdfb83c9afadada35a9da22e7324164a483fd542c672ec14b
+size 833312
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6a74a920a6717c93746f8d27b72efb67bdea3078
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2508c865dd6acb4e5bdfbd24838b284f4642ea72bbe0b91baa3397e2a9e5375c
+size 9919
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61b4844dc54c9038530d655452d8b0a70f810fea
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0ed8b4f0e95c18e609ac5a4de5106efb0db7286077497b3fa0e66d75b90cb48
+size 193748
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..631fd1b431ec8aab4a7d30e33996f3411bf32901
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000020_s000096",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 20,
+    "start_frame": 13,
+    "end_frame": 26,
+    "start_time_sec": 0.43333333333333335,
+    "end_time_sec": 0.9,
+    "fps": 30,
+    "legacy_segment_id": 96
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 26,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14182802673e24846ba2f8aaf6381295185d163f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000020_s000096/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cb661f4e00fe243e04d2314b6423ff18d86a1525d9a118604d629f3c869bb5e
+size 191956
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..125361ec46efe4fb97a137478391c97c75236f8c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc18c1b97349593d9d6ca0c4a6962acdeea983e7542525e5f8be23b0c1cce73e
+size 10819
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bedf21d7d40aaccb72dc16a2461700a072d4773e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ab7f885d96b70a6498356a38777102088e7bb00ea3669efa120024da84dd1a
+size 233987
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efbcb2925ab8df38c271b6788256f8f7433c571d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000021_s000100",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 21,
+    "start_frame": 10,
+    "end_frame": 27,
+    "start_time_sec": 0.3333333333333333,
+    "end_time_sec": 0.9333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 100
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 27,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1791f82072e058729368fc328172bb9244b3b72b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000100/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f574fc177193bd4d6b657d7649d17ad79bc820ae3acdc1c7aac99737aa91fef5
+size 205053
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5dcf722d9ecaf1364c8f43d0599d8f5bdf9abae7
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113c348905f32d5f8f296d4702c5e043fe89a93afe3dc4ea79595ddbaba284e5
+size 15389
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3620f7fdf40e5edb20ad2308e86b6afb8dc6a86
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef7294821bbdf435a785b7bd3ff7f439c3efb5145f258bc218bdcd9bd5eada77
+size 479847
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4faf08b84a318f61ea415f170e3b0dbd1c3ffb
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000021_s000101",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 21,
+    "start_frame": 43,
+    "end_frame": 82,
+    "start_time_sec": 1.4333333333333333,
+    "end_time_sec": 2.7666666666666666,
+    "fps": 30,
+    "legacy_segment_id": 101
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 82,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5275bf2529bd4bcfc2fa9d14dd89b423c4ef26d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000101/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb0e4fb30a4f7c5e2b06bbdce82f436b9d31e87146a77287622fa0fb157c47b4
+size 418452
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7d493a5d22b56fe9d7a0008361e5842b93e9dfc5
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d83f54ab6a09e7900d01bf2b60ba125f7ea49a21eb1f246e54f7796da300bd7b
+size 20332
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cd805a9a722f949bed370b089c773c85e022604
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ee968bf5f5a77145dfeb90cb87eab1fa0ae0e7bd0da295811dbaff2503a0a3
+size 677624
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..760948a7c888e5aa7003ba50fdc1df9cd98b2d00
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000021_s000104",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 21,
+    "start_frame": 329,
+    "end_frame": 384,
+    "start_time_sec": 10.966666666666667,
+    "end_time_sec": 12.833333333333334,
+    "fps": 30,
+    "legacy_segment_id": 104
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 384,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c13200bf61cf8463d988cd9031d280a9b9323d1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000021_s000104/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b1e30cc377102073905bbebd6d0ccda4d406e244547628a61d98cf8c82a8d9a
+size 586077
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..efbcd8b22f501729b6b00e581b287ec8a3db1e28
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:181a831644ae61a39ccc5d8bb5fe8c395a789ad2e209e6fdc6517e2bbe627ad7
+size 10086
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0f438161ff4051961e37b813f09d93e522c7c84
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9369d9ac844d06d54da6a5af8cbe851a97a04f26f707eb0ddd5286dc164c74
+size 236719
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04b9afb6469292de45bfbcbf1f16b848a4205f18
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000022_s000105",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 22,
+    "start_frame": 9,
+    "end_frame": 27,
+    "start_time_sec": 0.3,
+    "end_time_sec": 0.9333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 105
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 27,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..629c96565f8bef718c8f67d18cfb5fecda077228
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000022_s000105/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6601e536fff3c4223ed387bac63ab45fe60ff817c1b7210599a96662719fc4f6
+size 213193
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fbd345922a65c059c40fa5c24b472e98828d4b55
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a7ed97ac1bde6655a98aeeb7e0dc0568ad33da6bdd802f6a4ba2c578a3a456d
+size 9789
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f000dd12c11d79fc0b88ac4d52360e5cc08db0fa
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75aff62978bac867b8375692f42c7d3e07a245bfb12739cb8932f390c3393dd9
+size 201712
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0d9a817be98772a51de940e078ae739b51b0ce8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000023_s000109",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 23,
+    "start_frame": 18,
+    "end_frame": 33,
+    "start_time_sec": 0.6,
+    "end_time_sec": 1.1333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 109
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 33,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afeb61d592b6a3884aa638bd1c5f065232b523bc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000109/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5656176ad27fa697d7f83e5f505a48b9a87bdb9053633b468617748d03bcd598
+size 188391
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..58350243929ee48abaa778ad337eaaa5aae4a115
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8182508fed9a1ccfa390a620086b3913e1cc5f776a00754e623eb85a102faf0e
+size 15364
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..deaabe6821497d2755078f1b288b00aaf5b08ff2
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef563ff329c0d72b9971b81f6981e2748225e5e3a9f7c49790690e74929672b
+size 484403
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d855b86e6414e94de357e743e4680b1112edef0f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000023_s000110",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 23,
+    "start_frame": 41,
+    "end_frame": 83,
+    "start_time_sec": 1.3666666666666667,
+    "end_time_sec": 2.8,
+    "fps": 30,
+    "legacy_segment_id": 110
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 83,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdfdbe8d4616bb208a910bc9a705f1994d09f19c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000110/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88aeb17672d30e9c64f98c5cbb387d46d48652206b22ce52e910c3df7f19aec0
+size 430137
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2cf64d3ca7c6478441a4184cbd3d4be891ef6429
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72d53846cc9a263257db4aa43822e72e3e8cd68cf4ed8b8ce38ce347167eb20d
+size 21482
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50693974124fcaa661c18c1dff53ccb8f5f5d744
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd5d7d49631238ef64621221e27447ae1eddaa6b2c03c8fae2fc6f81e204026
+size 880217
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ec79b7ce9a535ebcc2a6aa83dd9170d26911b9a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000023_s000112",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 23,
+    "start_frame": 253,
+    "end_frame": 326,
+    "start_time_sec": 8.433333333333334,
+    "end_time_sec": 10.9,
+    "fps": 30,
+    "legacy_segment_id": 112
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 326,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1aff37048fb382fde40116fcf6328fa78c22b097
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000023_s000112/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45562a47c77f0b95d5eb433f2db3c73e9ef92eec34ee61aee032909c12c2f852
+size 771323
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c944a88e9779743db16f5b6c0ef1d75c273a7e70
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d62d6bfee88e2d32a02069a403ec1c00cba9adf6c7f03b89b2c826b09344598d
+size 11832
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c01fee49be76a950742491b55d7ffdea25036ae
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ccc379c03a75ccaf03de6beab1ef046703d07813614b2d36c46e47f81338692
+size 363916
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1efd3119356f26e412a54ef0db72669a1e2370d9
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000024_s000113",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 24,
+    "start_frame": 13,
+    "end_frame": 41,
+    "start_time_sec": 0.43333333333333335,
+    "end_time_sec": 1.4,
+    "fps": 30,
+    "legacy_segment_id": 113
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 41,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9b2121cea98ded20f0c3f3a43ac5509ed010019
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000113/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7233304707acd4740ca237a5e14214035d2f99b6df7d6efd1a870e23f0876c7f
+size 311734
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..189c9bf907998e0bcf1f807a1dafa59cd1d49987
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c234c9e6d87e114c3b7d268d0ad7aa66265b2623e872827e226aa670505f1642
+size 15288
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e75bf3c521ab1f97abdf4b34b5896560e9c6f179
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041418e3f2962eeed38763b691483ba1ba264e55719aec97d86b67370352f7fb
+size 389720
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fde439c2b553d151b353cd1234eb5ca2f7087f01
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000024_s000114",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 24,
+    "start_frame": 50,
+    "end_frame": 85,
+    "start_time_sec": 1.6666666666666667,
+    "end_time_sec": 2.8666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 114
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 85,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03133c232919bcbb3ecb5cec0ea1cc329ceae055
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000024_s000114/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06677081b0c2b719156d9596f54e2ac6db761d47fabe8fdd5b9fa7897238f4ae
+size 331466
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..596b6e1b6a22b47e4906de03fbdd43787a96237b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1db8616bed6d281745a9a3d0866f843733f028d4f9643b17ef3022dbcddf215
+size 10928
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f41add36b194af675a61865a15a6496ccc583ec
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b89b176bec7fe294a758a40718e1ca380c23b4e60d7a227fbcacbd1a840a8c6
+size 271835
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae54d54fe0676b6dfd71a94a8c111c87537431fd
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000025_s000117",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 25,
+    "start_frame": 12,
+    "end_frame": 34,
+    "start_time_sec": 0.4,
+    "end_time_sec": 1.1666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 117
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 34,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb0514675fe38d57b20c1039f073e459fee04e38
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000117/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77aa719f8069140903df2e8495df9777d550ad3b9746f244c303ea5872127f20
+size 227904
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9b4307defdd803168ed1a95ada1b25ef52d07116
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee01d7a547cbce64d025178c76eb070ad4dc292dad14d92573e9bb5500e45c89
+size 15123
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ab2b24217123b8ffe47874ed68059dc08ea2f6b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49323ac87fdf4f47fea1c1cf10d3057a7bfb548d5de0521f2835c196d005f2fc
+size 445578
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9276b5cc3b552700c95c60b1e505a236ceaea70
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000025_s000118",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 25,
+    "start_frame": 47,
+    "end_frame": 86,
+    "start_time_sec": 1.5666666666666667,
+    "end_time_sec": 2.9,
+    "fps": 30,
+    "legacy_segment_id": 118
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 86,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..760c39cbb67f56e2f165f34324eb84f4aa9ad61d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000025_s000118/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6da357ddd3e48420b09e9467ca7801ea0724b68cf2348e47b2e0991b42ea06ed
+size 413286
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..eff63022649f6ecde744c3750a625061bd3b22ea
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffbf1e0f94f3c2aac6607fe43f0217aed2504dda2a419dd9c2ccb7dae777f994
+size 9964
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f00b3cee40c07d6701d5ce2996c092334f7ae734
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:697142b037da4c45f96aaed9d2be1b40c442f715464f451bf63d36affc84fd4d
+size 212012
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46cdc07aa70a688373d8f6a106e7a3ae45af4596
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000026_s000121",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 26,
+    "start_frame": 10,
+    "end_frame": 26,
+    "start_time_sec": 0.3333333333333333,
+    "end_time_sec": 0.8999999999999999,
+    "fps": 30,
+    "legacy_segment_id": 121
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 26,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1605498b0d94bbcc4c62ab1f05925b1bd94900cc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000026_s000121/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:139455a46accd7c41a3920995e7a2e83847ca35448a19f9aa6c8245b61524f71
+size 194273
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..545608dc2eba5993854c9361bb77b2c0b9ece63d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40f95dc812bc5827e949ae94dcf24867bf12ab2aa5d9ff1e0c2f5e053b230f48
+size 9843
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b39afc735fe808841aa0e0eb358065d6b1855239
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee07f6be7ad874ae2e4999b7b41042b85bef552ad2ec73b676189cc99c43cb2
+size 235933
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae95602f6746f0f37e7490cac56277566fe9901
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000027_s000125",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 27,
+    "start_frame": 11,
+    "end_frame": 27,
+    "start_time_sec": 0.36666666666666664,
+    "end_time_sec": 0.9333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 125
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 27,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10581096c521365fcae19581ad3d62ff7e30d2c3
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000125/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d33b58df3b9d0394c765b3174d870e902e24fc675615e9c0bc7485c8d326b275
+size 197376
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9588faf476f4fd5346c07e8655b27a3d3a0ab7dc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc61cff95dd7a0f9886a08fd00f6c21a3ef2b6e68d3a94c02b76c3d3a01b2a4d
+size 21159
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a668266669ec1bc8a396512e6f1106b5d63daf5
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1125869fa94c472ea5509d6dc1cd0ccb04ea654c1bc6a8d1e3a134673f7c3c60
+size 921711
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cf8a3f28c192f28d7328ce364aed5a89a5c784c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000027_s000128",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 27,
+    "start_frame": 224,
+    "end_frame": 305,
+    "start_time_sec": 7.466666666666667,
+    "end_time_sec": 10.2,
+    "fps": 30,
+    "legacy_segment_id": 128
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 305,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd5ae04554b8e60329e477a0ee7721cafb5c4cda
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000027_s000128/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ccd8ffa734d51ed5410e14dd455703bc4dfeec44cb351dee7d3ca1441e7f1ea
+size 813163
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cc1ffbdb8b005f4302c184d8be79d05ea7f72315
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d62cef66647c5baf797b30548e344a92196b5d61a648dd436a341c9afc46642
+size 8988
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d518fc8132c75ba8836a44435d97720bf411f9b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c60cd4a27e4b08d1ab7039353de42d67de90df87523d23e578adf48d4b80233
+size 196836
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..996826c8262049064a90db4c7e4e711cc17e0195
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000028_s000129",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 28,
+    "start_frame": 8,
+    "end_frame": 22,
+    "start_time_sec": 0.26666666666666666,
+    "end_time_sec": 0.7666666666666666,
+    "fps": 30,
+    "legacy_segment_id": 129
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 22,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..867d2e7b540005db9640a2062eaf16790334da22
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000129/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e3ea8ff64c1bdf6c9beefe2c6b942be6ccc6865fa167901357de0f7f72c343
+size 200926
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cde224b0409b2a835bea91fc68d6275280ccfa99
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1190d8223397f8d607ab8cc8eaddd277629e8e0c24cc33382c6bb6271ee6d0ce
+size 28780
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0bc92fabaa8716525abf4dbf2a319e57e99aa5fe
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd3ec483ca189e98978e305b5979144e18eeb84cf397e73d0382085b7134891
+size 1638521
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b133ae589520511a83a0a506d95b54b9aef98406
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000028_s000131",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 28,
+    "start_frame": 71,
+    "end_frame": 210,
+    "start_time_sec": 2.3666666666666667,
+    "end_time_sec": 7.033333333333333,
+    "fps": 30,
+    "legacy_segment_id": 131
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "pipetting",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 210,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "吸取试剂将试剂滴入试管"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b397344eea4393e6ba504770ef30ea05bb7aaa0
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000131/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bfa0cbcdfd955b88f7af33499cf44b8a0ea42fbb86d042913ab9d4b118da9d6
+size 1265063
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7cb94b9f3ddedad77f047b362891c0139be3f13c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad107641ae3cf853f779c127ff7bec6d63697327cfd6fb3f4213187bc973c8a9
+size 21518
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08cdf00be7f1cd5c72b353ea76e0d9443043771b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bdf052ee1514c46bf8ea17a805287037f8f526b1b0255d7a8c99a3988a99270
+size 1078189
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3179185824c2c600951be070e8dbd24de8d2aa9
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000028_s000132",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 28,
+    "start_frame": 223,
+    "end_frame": 310,
+    "start_time_sec": 7.433333333333334,
+    "end_time_sec": 10.366666666666667,
+    "fps": 30,
+    "legacy_segment_id": 132
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 310,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..173d5fcc70a324172dd888bc2e5d5b077a7473f2
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000028_s000132/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381a73cfe7ff930b0f6970015e9db85bb13d3168305482e99ddf039060d151cd
+size 958277
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2afe04bd2521c38e924f71b7c61a34c996aa77ca
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43644b4737b07fed43c9edbaacaf997675b43a6724d2ac9aba8fae9e9461b5f9
+size 9358
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36514bbd9d58ece01925f73fa82114d0d18ebf88
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ffa20e2474b1ccd0b0a0972e7eda1d9260380931943a7876e65161ced9ecac
+size 201500
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce13dfeab088d4de2bec91656d6cfca81d5aad6
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000029_s000133",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 29,
+    "start_frame": 11,
+    "end_frame": 24,
+    "start_time_sec": 0.36666666666666664,
+    "end_time_sec": 0.8333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 133
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 24,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a6703ee0a67a6c3428575c1e529b690d3cb2b53
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000133/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:012bc4c59402a91761f0046fa29ed7cfadb84a271e741f65f6f5301202e7075e
+size 187911
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3c3b7cfa5dd3116a9acb8fc836f9d782fbd744c9
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e42d8fb277bcab417e0f56a8b7ffc9e0698ff4d3884408919722f3a652add4be
+size 12252
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..303acc12a333f1533c8c8cabcc993e8e09fb0879
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d52fb1fa0162f3a36773b9fc87792493b5bc38c753e62b913f184052f10f1b
+size 278715
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e2d6a36c3110681592de329ac2617ad1f192bd5
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000029_s000134",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 29,
+    "start_frame": 48,
+    "end_frame": 71,
+    "start_time_sec": 1.6,
+    "end_time_sec": 2.4000000000000004,
+    "fps": 30,
+    "legacy_segment_id": 134
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 71,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9de27047e9c4cb7235dcded0a130b8abe6679e69
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000134/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8684af66dd1a5bf0481c73619d2bace922defc2fbeaa93c3bbca1a7c30f5a161
+size 231116
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..70a14e2333758e5ea09e7ce276a1d21f3d940c77
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad5ebaac9ccee19f9d4609e00a6458b87fed7b0273ed7b4ce5f3cf1ce79e99f8
+size 23426
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..736bc0b61338366ddec97a4760b5cfa730d34709
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2002cba51a0ada3528bee06ac65524c58db0231f34171c9959f1c4c9e3582305
+size 848976
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b19c6d111ef673f16ad1c49c193aab895d556be
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000029_s000136",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 29,
+    "start_frame": 220,
+    "end_frame": 290,
+    "start_time_sec": 7.333333333333333,
+    "end_time_sec": 9.7,
+    "fps": 30,
+    "legacy_segment_id": 136
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 290,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64912d5eefa5a80850998eaa3c43c701c3a5c3ae
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000029_s000136/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b95718ad9e28b120d5cc56499824558e29b02e8fb7a33e24ed7c2c3661f8f7f
+size 754313
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4f75bcf33487cd3344bba7d9eda924b925f30fde
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef771887e2afd90cca9757071a021d30f5d0f91891eb505a004dc2677c514cb0
+size 11382
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7c7ce38bcf01b613ea976a017907b5965c2e0eb
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be16f7a4900f4ec7f3f5b5f80c2087352a957ee16e16b252db161aff121e332b
+size 236400
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2518557cc3aa49e4fc18af3576aeaf29560611f8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000030_s000137",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 30,
+    "start_frame": 11,
+    "end_frame": 30,
+    "start_time_sec": 0.36666666666666664,
+    "end_time_sec": 1.0333333333333332,
+    "fps": 30,
+    "legacy_segment_id": 137
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 30,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31cb11af289874541ac7f381c527b22a7e64130b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000137/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878c22f5c636c5e11073b9aeaf35dc90e7c111f335af8952fe4ac51012799e0d
+size 223189
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c6daabf44257ab3178f6826828b5577bb2b3b051
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0eb3c6f057b098ed3df58d9841b6a7c8c3749075c681844fe37251d498ac746
+size 19975
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d4b86227920f296ee1f4d6b4d02c2c2a13139db
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35eeda32d634b71dbe6b9c4b259807bd952c46868ba3ac996d553650b0d734f6
+size 802550
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77dd8430584063ab27588c55aee5fe783256a2cb
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000030_s000140",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 30,
+    "start_frame": 205,
+    "end_frame": 277,
+    "start_time_sec": 6.833333333333333,
+    "end_time_sec": 9.266666666666666,
+    "fps": 30,
+    "legacy_segment_id": 140
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 277,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e3ce786f41ea33dd9e303af2a08bcc014b9eed8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000030_s000140/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36448cb47e5b47a5d4cc8af7bdbc8a5044344a7fd9096d965b6f9759d1ea1a43
+size 703943
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..449a9a78f8789540547c3316272053ae59a81160
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea68d2c2ca2d7765368ee65d3bb2cd9ff44a9f57ffcbb8a3e4bfc8db9a9096e8
+size 10085
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1d6ce3bf9d98fcf70b71be5d766923ace1da119
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcc2ea78482449242182e96d5183a03cd825d50b0c92ae9b067d88df21ef1381
+size 219469
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94c054009ef1f995f39591015d63272f76b4d7dc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000031_s000141",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 31,
+    "start_frame": 9,
+    "end_frame": 24,
+    "start_time_sec": 0.3,
+    "end_time_sec": 0.8333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 141
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 24,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..482602db26e61449e18327e820ec6404316bb723
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000141/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce019a8f15d29d2829c4e4d8190f89a35909c76e84e5ac1694afb01ae6335a2e
+size 189757
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e4a7c5015fa49786d5abb8f2837baa59a5cc2c0c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd118d629c311492c0f378b878f6a1dd2011c592dc46f95bdb154988d076ba80
+size 13660
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ef89aec229b94b2e75f18d527bf5ff33e463190
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:029619079287404792d959adf00a5aff1eaa389cd0486a1ddb138ed174a524d8
+size 351196
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8675c3fad5727fd73e37075dc84bc30bc0f04666
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000031_s000142",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 31,
+    "start_frame": 37,
+    "end_frame": 65,
+    "start_time_sec": 1.2333333333333334,
+    "end_time_sec": 2.2,
+    "fps": 30,
+    "legacy_segment_id": 142
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 65,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af7e07edc3c2527c5b605e8bcc1f44d6d175ce8b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000031_s000142/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5435355578fed178c7a92238e92960d030a64a64ea25651b9c70b7fc98d34d32
+size 294541
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a31dc7296cf69774b2cd2ca32f79a2054ce993b6
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1642ec0918978a1250a4a2535c751fc480eba9343810a72567c893d83e80c5
+size 10353
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..787bda39664e31ab0924cdd0174543e208cc16b9
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae5d1789ec418da7489f8d514ebd5579f04ff46ff9ca98cf2024c9746a6afdb9
+size 224470
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a92a12ce518a550070629023fd6a37d4988d80
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000032_s000145",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 32,
+    "start_frame": 14,
+    "end_frame": 32,
+    "start_time_sec": 0.4666666666666667,
+    "end_time_sec": 1.1,
+    "fps": 30,
+    "legacy_segment_id": 145
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 32,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afa655e9c004ba708f5b800feb568acfd893d6b2
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000145/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47bbf991729faa0895be006a093598650803288caabe598969757938e3409f16
+size 197320
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5524f18b1aeeb84cf579277b44b901b1ef354472
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:442ca35084665587fa4734f6fe4c89996251dedf5f15bf48ca3dbe05c6326d56
+size 21750
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..275b8e1870ad1ce7c36f721fdbe3f2f1ca946ec5
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55ca7cce8c077873b6b271a167f8bf5b7b08bfc31841a490d4f1bc5fbcaeebcb
+size 958846
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca7bf191853fd042b78c077d632895af8f251c36
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000032_s000148",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 32,
+    "start_frame": 232,
+    "end_frame": 316,
+    "start_time_sec": 7.733333333333333,
+    "end_time_sec": 10.566666666666666,
+    "fps": 30,
+    "legacy_segment_id": 148
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 316,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9467b4f211af79b74c7753dac610df945b85f589
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000032_s000148/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b698f1ce4591044694d1aa4c3912122c0bbde2c1f39184a65c51acef53f0b90
+size 812789
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cb93eb63d78bcee4a8f8eeda2e24d2414e7b5f83
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ed97d8f8c54da24360e794ecc0252285522121c7e584c6ce5725fca99ec30b0
+size 9467
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8eb17b660c12b6678959a9e35d70a9adbaa96ffc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d68e95b18182e2fee08f21ef1667c2e187b2f23435116ac16dc7a342b0954a35
+size 188174
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d4fce4378ee0b54280efb5c71b6f733f89f3397
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000033_s000149",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 33,
+    "start_frame": 15,
+    "end_frame": 27,
+    "start_time_sec": 0.5,
+    "end_time_sec": 0.9333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 149
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 27,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..155350e68e22dba311724511054305238c0ab822
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000149/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae32ecb2771771033443ffebaae4043072133199368c61d63c8362bd21ef1443
+size 170273
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..95630bf9c3c27d1ca78b3d19875eaa9769e284ce
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3e2a4eaa7c6d40e603cb33d64107f504a2629eaaa9d9bbc0dccffbfd9aef4fe
+size 15784
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2b5ebdf2e06cadf825e0eced92308af3d2cbb7c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe3608bbad7e88540efc33c4f867305bc82c194d1f53d8330cc68b4d67de1fc2
+size 583868
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db26bd062aa2c80f3147c66b27d6b1d93a6c3892
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000033_s000150",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 33,
+    "start_frame": 39,
+    "end_frame": 87,
+    "start_time_sec": 1.3,
+    "end_time_sec": 2.9333333333333336,
+    "fps": 30,
+    "legacy_segment_id": 150
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 87,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4e4fce3613ebe21b661f54b1df4e00ab56934f6
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000033_s000150/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43a1aced8db241494cbb767eebc4910f23e6d54e9a526ee171124626eadf5397
+size 518695
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1230a855001aa6d1e26f92e9675f2bb3bdf23062
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8459bd3e8fc8f0771c6ecc120bba7712a43eb7113f05b70cc4c070ef0f28c7c9
+size 9864
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20cb46ec68e252577b2de05839001922bb55dbb2
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26a85770b7ac5b9c4323918126e92fea16958a65d72326960d553e44b1d75daa
+size 223539
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8794afb49f79d33d23d7f3c200f8c94f7f20663d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000034_s000153",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 34,
+    "start_frame": 15,
+    "end_frame": 30,
+    "start_time_sec": 0.5,
+    "end_time_sec": 1.0333333333333332,
+    "fps": 30,
+    "legacy_segment_id": 153
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 30,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b157250e0c40e86f82005bab627e01408d1a97bc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000153/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:949df209758784e35ddb3085af2da471aac2f7f307797e1ad36f09b97ebab6be
+size 220908
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b4adc4aeeac48fbac3a59011bc23726260406c65
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a660e4b05f776af0d443ddd36e429b9f5ace979ff1eb5a3142427c06c6577e
+size 12059
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ffd264dd890b6c904d9eb958f78a2b37727f1ee
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feeb3e9eb83cd88aa9c58643f5b2f65bc36886706821e948b6d26e51e29136e2
+size 279818
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af14be13b3b735f54146ddc4ae641ddb39d0722f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000034_s000154",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 34,
+    "start_frame": 51,
+    "end_frame": 72,
+    "start_time_sec": 1.7,
+    "end_time_sec": 2.433333333333333,
+    "fps": 30,
+    "legacy_segment_id": 154
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 72,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b310a491e6b334c71f29e438be00e1652b46e140
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000034_s000154/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683b55f6d37f4110e6124c9cf6e1da18bc2c41c1b9ad3a8d8e5282573d3b0e7f
+size 252000
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..05561a727a6b0fe904749c6234af6618925881ad
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13cc94dab22f952da5cb6147fb46643ac7f290f0c77d92dfa98fbd3cdc83b3d6
+size 9756
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89e44006b736e8600a30b4ff3f639b6f2dc6915c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:780c4baf4b15bc32642a0d9fd4efa9f3b5eb0a26894ece9c8a4d5ba3fd418a7b
+size 189801
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..059b11ed3320e8eb9e2b9f8fd3d24bc0045c4aaf
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000035_s000157",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 35,
+    "start_frame": 10,
+    "end_frame": 24,
+    "start_time_sec": 0.3333333333333333,
+    "end_time_sec": 0.8333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 157
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 24,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7478bf6c069c10fd6d4b2cc78dc6c31f08a14c36
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000035_s000157/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e2d18e8968170a61d4e1a3ff253969614ffbb8e05e93413e2c7a0f1816af5a1
+size 188752
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..71deea93c9ea01562531e70b36a70c7056903b87
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06704d35e57f5a49813a9b60be13beaa58839e32654cfd4e2c8416f01128d3b3
+size 10356
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1cceb8110ca688fa64c5f25d7ee2a7b1ca802495
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46667bc069da5bfd5add51d2e8ab60779f00fca90db0f2704e333dacc14a122f
+size 245742
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c617c6f36a3beeab8c966d9bacc7ba8022f8d4f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000036_s000161",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 36,
+    "start_frame": 7,
+    "end_frame": 25,
+    "start_time_sec": 0.23333333333333334,
+    "end_time_sec": 0.8666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 161
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 25,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..539be6f459f11fc89288e89c6ae4b1cab422f12e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000161/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c123f6c9d448d3a627b459eaa57145c6b4fe5538c58dc00d21645d83b374b00
+size 220400
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7e3699dc0edf9bef8908fd2e7a1f613f30794f44
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:566121890eabd0abb0c744fc1154818027414f83718f7f5082d797128c46a3c1
+size 13436
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..638bdc1a87ab2e1675873353f6e0ef7cc70e467a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f75585a4dbe34ca3fa6c9eb3eec9b1b12e9ac568154fd18eb45e1efcd2c96f78
+size 325044
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7921c96cb98042582b16474c9349ac469c029f33
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000036_s000162",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 36,
+    "start_frame": 35,
+    "end_frame": 63,
+    "start_time_sec": 1.1666666666666667,
+    "end_time_sec": 2.1333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 162
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 63,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c14b24cc66df5f9887e69f391d37c813c88d70f0
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000036_s000162/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3dfa15aa19c1848fb920f0c6570673076576cf27790aab2bfbce60f986f2211
+size 328066
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..59c19c342570b7f59c551804c57afe89a24086f7
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ce5b4aef0e1917e25c450c8360e9b971e547c5519b271719087de5671640372
+size 10172
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f82b3bb679a5f9559840274e65c5de66b8b8ac96
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc300f655c157430aa635eeefbb8b90a11bd96d032a36a12465d8a7054ea422f
+size 218434
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04aedf60726bcdcbb6a62e49176a7d52ad3dca90
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000037_s000165",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 37,
+    "start_frame": 9,
+    "end_frame": 24,
+    "start_time_sec": 0.3,
+    "end_time_sec": 0.8333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 165
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 24,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..240828c39da66b4387ed0d52b5ee0d6f19db9064
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000037_s000165/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07556bb1c2121135674affa129c1194d6f1e4b01ad833d0611a04efed8bcbd2d
+size 193424
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9da2c6d7162a8cb7bb5ca0439fcd0e73ec9f794d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:badebb7f2998b270652a5dd7d72b4116662c67218286ce70273173a4ecd2513d
+size 9619
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd5b5689e69c3e91b60a07dc7bc9ae64292d4b41
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa33016fb4862a9f983dd2ccc0acd9bf93630b426ca3d915da0b909a870f5eb4
+size 234244
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b84f2de473ce94ed74630fd4fc2566fe264862
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000038_s000169",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 38,
+    "start_frame": 13,
+    "end_frame": 29,
+    "start_time_sec": 0.43333333333333335,
+    "end_time_sec": 1.0,
+    "fps": 30,
+    "legacy_segment_id": 169
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 29,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7347280426490df4b9df1346c7c692e6317973e8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000169/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:849763c9d46875584516f32f69de17f430029bff1c390bcd813edd33dfe48942
+size 192743
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..359b02472bf3f5292e73eca0630aad367ee00040
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1f159be24becdc8238d5e5020ebe820cafb59113ae025634305e6dac9923f6d
+size 12081
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9922b221804145a006f478d5e4002ac79c6561f4
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d26de2dd6d103d2bf70dc1de97ac5aeaaa9347e9d2767f3627d03d20df6c4b5
+size 246587
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c6ca5fd015bccf4f012f1d42766cb4fadc279c9
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000038_s000170",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 38,
+    "start_frame": 53,
+    "end_frame": 72,
+    "start_time_sec": 1.7666666666666666,
+    "end_time_sec": 2.433333333333333,
+    "fps": 30,
+    "legacy_segment_id": 170
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 72,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..890b539e03923930c0437b590e161d1bdebfc35e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000038_s000170/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b290fbcf1d059e18cb611aefc90b21edc36360c8d16d3413bb7442c9e8c171b5
+size 207440
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2b2013b9f44f817b3edaa0bf8632d6826b660c43
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7fc67fe97437710ee656390d7da79b4fea8058cf71df90e092a6a6b56751c2f
+size 9647
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..24c3e67898840d2d24a72a6d213ac58b2549053e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4027e4930fdacc483bca1cafb1c96fab5f265ae52876ba80849ede14cd58080b
+size 191120
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc2b21b882a51eaf8eb31455cf6beeea86ed06d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000039_s000173",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 39,
+    "start_frame": 10,
+    "end_frame": 25,
+    "start_time_sec": 0.3333333333333333,
+    "end_time_sec": 0.8666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 173
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 25,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..684d3cf0700506a39540c4ef704ebcb7ec4a3581
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000173/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19be2ba73b36951f47c80ebdb4bea5101dff5c2029932961d5e6b8214e7d1874
+size 179899
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9893d1679722df05c12bcc88498b2ea73db4641d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e01ab7055a203e87a937371e21262db540ff7ca802ca25d28f38542fadb0e09c
+size 13176
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73b7599fd79db45c034eacb5b1b03b299cb5b11e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:428458d85d11ca0f06dcedd70278494322e4b9633c40e4861a434bb046e95745
+size 324156
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31258d29ade4672229ab3b77738d144840fed74f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000039_s000174",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 39,
+    "start_frame": 47,
+    "end_frame": 75,
+    "start_time_sec": 1.5666666666666667,
+    "end_time_sec": 2.533333333333333,
+    "fps": 30,
+    "legacy_segment_id": 174
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 75,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d4987675bb01aa45c76d9d0a7134881a5726ff1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000039_s000174/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38da35ebd76dca8b7cf6a0276213d5b98c85f1eb0bd3e221ecac1f5714b549f3
+size 294283
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..73efc6e90fe8deb5575553ffe4b06868316042fb
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4464706973a050fa0b9a64713de4c7c0cee48e8565d17a92da5fef6e0f431ca9
+size 10123
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..275d054bb6eaaa7331075bdcf6a86ee05a03dd4d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1f92c79e468b3d8a05e5096ee585f58f444815ddd14d7dc0fcc68064a529684
+size 216987
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f8f666ee9767bd0725f037c3b9cc191400a3b4c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000040_s000177",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 40,
+    "start_frame": 15,
+    "end_frame": 30,
+    "start_time_sec": 0.5,
+    "end_time_sec": 1.0333333333333332,
+    "fps": 30,
+    "legacy_segment_id": 177
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 30,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0850bd91b14d32a2fc483ca220e763a17cdf3d2e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000177/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2acf6f34f5e80e8b3a960f62e87af79ed3c81dce014ebe430da32bf43d53c29c
+size 190993
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..66fa328b2e368097985b339ca022912f95b27111
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8945c0e0fcdcde05b511beb13452c6e39c2be9b946e093e0976beb5c8190e666
+size 12938
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a14ec84562ccac455aaa1929ee164b5596775e8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84138bbcc9bb3aed9288a64f018ab6e824f39c65e827a227f704010ef8c9c112
+size 302254
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cc069b03cd48ba208ebe2a93e05c16e0ef16a77
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000040_s000178",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 40,
+    "start_frame": 47,
+    "end_frame": 71,
+    "start_time_sec": 1.5666666666666667,
+    "end_time_sec": 2.4,
+    "fps": 30,
+    "legacy_segment_id": 178
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 71,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1923abb1151091901c48f90227ecfa15a8bc12eb
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000040_s000178/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf11a5e01937f4ce4cd5bbd21aaf7e3e01220c57bd56c6b024c0f6470347e10
+size 275944
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..15886f104340c457d2f17db0832d3a5fa33fa8e3
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6de4d8a98a04a56b7b24f82a19293379eb573ee533e0f971db1cd5e7667a95ac
+size 9371
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e8b924a856bc12dea84fce8ceb9128f95badf0c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458a93c04140f7026c889a64a1984f96482a236f432593721f2e140ab1732d25
+size 202474
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0793ff1a1d1b85fcccec8b9fc80e32bc362de1fd
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000041_s000181",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 41,
+    "start_frame": 12,
+    "end_frame": 26,
+    "start_time_sec": 0.4,
+    "end_time_sec": 0.9,
+    "fps": 30,
+    "legacy_segment_id": 181
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 26,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..479ab1f7688a4f84d62e71ab7af27af24b0b1eb1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000181/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2958b2af5fe3aa7d785ed60d32069935ccf8de9b864cc9ca406415131472fb9
+size 180702
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..03f25883c1f5c115f701a735ba77550339767278
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df355c1846eab7ed7af10fc3f0711ef1bcb5689b941f05577a5fcbecf777d75
+size 11682
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52cf9137606823cbe9d52cd5d647cbc00618ec19
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b03058d67b4ac745f45e53c1a48447ca664e6e98424444ce45502adc60e40ef7
+size 280735
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95b5a1d5dfd8ed30c47dee5e6e77a05113ed6a40
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000041_s000182",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 41,
+    "start_frame": 42,
+    "end_frame": 61,
+    "start_time_sec": 1.4,
+    "end_time_sec": 2.0666666666666664,
+    "fps": 30,
+    "legacy_segment_id": 182
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 61,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd8a45217024600e4787c7bfe830e889e1411435
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000041_s000182/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:871c3157ac23d86a900456c80c0dc977dc4fc0008a090434f9ec446235d31eb4
+size 204652
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ae2c0d2b3a200169b1749c1946c9aa4af37d2251
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7995d7051eed8150839e3139b0964c241783deec51b1695d60d78ea0a907d82
+size 10029
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..891c9714b0bb3b8fd6a00355edb02304305b2e3c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5cd709c71df08a393a57b3849090c7bf6aef1fb35b5279cbca4d917ae52a617
+size 215395
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb78e9a3a1fad2a102c7cc2831058411aeda2fc8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000042_s000185",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 42,
+    "start_frame": 14,
+    "end_frame": 29,
+    "start_time_sec": 0.4666666666666667,
+    "end_time_sec": 1.0,
+    "fps": 30,
+    "legacy_segment_id": 185
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 29,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1fc58e1713e529150eda7e83653158cc4a27b9f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000185/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16108532ae05fd9dec94a513c1a99a40b89fb65ef8464b106f378cf5660e03e7
+size 181052
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..63c4f05888c4ceb33c49729d71013fb720ece31c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:518869b7b24ed93a9e0e5ef61fe4c467f05090c5f1b16ed8130ce4ebb4325fce
+size 12450
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6cfd940f8ba9a437fc1f0a05ebf84aa1efd86e88
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c68a177c2cbc24340d1f375eadd88e3cabfa3759ea9f11adf6da81ad1c1722f3
+size 323535
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..154ad6dc6fd6b0bfc8aad4001047c7950cfeb3c1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000042_s000186",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 42,
+    "start_frame": 45,
+    "end_frame": 70,
+    "start_time_sec": 1.5,
+    "end_time_sec": 2.3666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 186
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 70,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a461a7caf9cab7e3aa7e71e5bad795fafcf99a1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000042_s000186/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72534ab024dd4400385b6d1aa1203f2035011c69a0d68b350ade2ac5ee4445be
+size 287632
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3c5fd7d3ea134c6e014f9d93cd51daf331a1edaf
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd620f2cc146c9cd9ff07a2db7b955199ce5eaeaa400cb366e44fe6a60e217cb
+size 9976
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ece4de96d194900fde5aa455312fc4b4440a72b8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cff4808bec113cb719bbd7493a59e477bd79a310cecfad4646017003089811c
+size 215118
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52f61d3210cbae40aa08a051bce9074dfb091619
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000043_s000189",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 43,
+    "start_frame": 13,
+    "end_frame": 28,
+    "start_time_sec": 0.43333333333333335,
+    "end_time_sec": 0.9666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 189
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 28,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1dea02308c5968189a88afaa9aa987f1c3462ba
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000189/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fbbf0f0ef22faeae36fa56f5c9566418286f30fcc385f47addf7f801e3cadd1
+size 205419
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..976471f389ae801ff7774776f3efcef58686f2ac
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6425605503664a5d75fa9ad104ba4258ad1776e887acfd517b40f362b9f2822
+size 12597
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e19a792f9382a918135c58fcee162156d564c8a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94c16392ede8ef04b262a348295c9e1733f5fe2b9d8fed2fcdd942518e6c735
+size 294052
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da9b8002ad4a35e3e21ee354491d53cb82d30a61
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000043_s000190",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 43,
+    "start_frame": 42,
+    "end_frame": 66,
+    "start_time_sec": 1.4,
+    "end_time_sec": 2.2333333333333334,
+    "fps": 30,
+    "legacy_segment_id": 190
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 66,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c7b34a1187b6f7ff91762cb091fd6d866bc0f50
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000043_s000190/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:501d8d35cb59ad08f3c0530e99a3e0d5ea3751f96a2e0c1b3ff1d89d801cbc26
+size 299665
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..002835feea665401c6c733f5f0fdb89487cbcf50
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c439fff8f7e9fb36868c7576027516558af47db53606e62f73e07b617e7b4a
+size 9315
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ec1bd7896d95cdfe92d617a98552e4a2e2ad795
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:156f68b09741cf9f6ae8b58f155a126a6d41d40abc57c5b6d4b6ed833bad8925
+size 170018
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7f6e1c4f0edcaf58d9abc75896fc8ea5eed54af
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000044_s000193",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 44,
+    "start_frame": 10,
+    "end_frame": 23,
+    "start_time_sec": 0.3333333333333333,
+    "end_time_sec": 0.8,
+    "fps": 30,
+    "legacy_segment_id": 193
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 23,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9bc72322f9c4623977c804496f8681e61ae1a2a1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000193/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc89715018368105f4dd8113d0585d51d3e2375fa32c594dd77e3cd3ef4d3719
+size 179089
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a2d2056bdd827704f910f71263afad23e5ccf3c6
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c828aae530a1c17878c2f32d0386195ca58651b670e9f4aeb139890ac726cb
+size 23017
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55d1d92706fb5b75485060a5cd59f7755dc92c63
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18825e55b37c32f8fb431c3173c82af9527cfb5ebd4028a58640368b2fa5b589
+size 1217844
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee0cde9c1559992ea73958f284ee825fd09f4f20
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000044_s000195",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 44,
+    "start_frame": 64,
+    "end_frame": 171,
+    "start_time_sec": 2.1333333333333333,
+    "end_time_sec": 5.733333333333333,
+    "fps": 30,
+    "legacy_segment_id": 195
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "pipetting",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 171,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "吸取试剂将试剂滴入试管"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bde1c87e3fcdd944dea4ff6d7f4167735da6bd33
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000195/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8586eaae600781888c7880e7ef032572b05ed218e9fc38ed9148d2d48d7f006b
+size 903171
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..72412f5ef80e8a9365c8148f014f07fba63215fb
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:259fc980b53ef3723f39a1921d1d19911e938ab5cae87d2f3cd042d1dc3f01ac
+size 22892
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b027be8b6ccbc799d63f4d60319967101eaba12b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:938b9c2d0b31813d9c5dadcd28060ff87e3df0e24e2b4fd6c6791d22df5a41a6
+size 1059344
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8af5711cc0ae72280787dbf22c1c0325201f977
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000044_s000196",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 44,
+    "start_frame": 181,
+    "end_frame": 273,
+    "start_time_sec": 6.033333333333333,
+    "end_time_sec": 9.133333333333333,
+    "fps": 30,
+    "legacy_segment_id": 196
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 273,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81b133d9364b547258c6deadc941f2a7664ce1c8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000044_s000196/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f675f0ffbf7f1b5857ab18e31ba9314caa9531ba58cf82a01f99dd28d8e9c2e
+size 969591
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f04bdde75fc69a2f473448f2b6bb0ae6087a7ac4
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc8f2349b4192a6a5f4192b1a23aa4e2d3fd44f1fb2bc4d29e5f5428e51356f
+size 10411
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..204977268d2c19d1bced1c34a6cd2db5ce693b6a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc3a75d96a7c7d9100c14bdb23b57fa735408150bcec3f640d0acae2f9f5c4e
+size 227403
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd6a8cb9391a9990de14fd8e9c1f2b0543921eb6
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000045_s000197",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 45,
+    "start_frame": 11,
+    "end_frame": 29,
+    "start_time_sec": 0.36666666666666664,
+    "end_time_sec": 1.0,
+    "fps": 30,
+    "legacy_segment_id": 197
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 29,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21546a0e86e39d8df6a9bafa2d1d1c66a4c0753f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000197/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bd175a0604fd1429a85dab239422d5592c55a7214c3612120aff99374d0c6b5
+size 209580
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9ae64caf8142078f899d22d234852862b4b9aea0
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:502495fcc64ed66395e3d5abcd955a539c861a8124aae029125b83e997b00858
+size 22332
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35433b7410f5c86de655f54f6f40d7a9222a5065
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ad56edc314a36835b3ee936146482a487c7df3b5e75952a14503400aaa07d8
+size 931650
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c1a53c4f477ff0a7b912d1f135317322a8b2eed
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000045_s000200",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 45,
+    "start_frame": 206,
+    "end_frame": 288,
+    "start_time_sec": 6.866666666666666,
+    "end_time_sec": 9.633333333333333,
+    "fps": 30,
+    "legacy_segment_id": 200
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 288,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b18b683f220424a320ccc3bdc6e2e7a976e8412
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000045_s000200/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7146eb8e6b2bb609a726429a3afe4bb173ece3a6b88f95ddcf9b4eee01fca50b
+size 858694
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8cb1ac65edb5354fca89136cb8ec86e31a6352e0
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09754b82ff2d2597838e681dc42cf1878932c3ab09bbd94ceb2a24522c3b920b
+size 9279
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8650cd28355077ec454b0fe17f44118b46e3d251
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f96496fce539a0adc5c2c9c8375d7656a519bd431b852d3ba9850aeb35448a4f
+size 169288
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..785f3d4a885663ad79555aba6a31447af2a5d79b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000046_s000201",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 46,
+    "start_frame": 29,
+    "end_frame": 41,
+    "start_time_sec": 0.9666666666666667,
+    "end_time_sec": 1.4,
+    "fps": 30,
+    "legacy_segment_id": 201
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 41,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d06b9e19798c262b53eb3b6fe8cea052e43a7f0
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000201/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06e0b30f1b6c7f8450ea5595ed25a5e298459db3074a5cdca64f59ba055cee49
+size 165824
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..825f74ca36f40f7fe13e24c829f0a50c7a7fa44d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76d7f023bf8aad97ca981b918f289f6b94f6c84b599f4be043036e05aaa9bde3
+size 12777
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ac16145ad7b3a29fb973ff288d46bf4916e4ec4
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f3c8988b3142f070f8ff9a025e01ed5ad9fecf861946de3061782f7a4d084ee
+size 298701
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ed1314f5db139d7b093a178398bdfba09bb267a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000046_s000202",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 46,
+    "start_frame": 70,
+    "end_frame": 94,
+    "start_time_sec": 2.3333333333333335,
+    "end_time_sec": 3.166666666666667,
+    "fps": 30,
+    "legacy_segment_id": 202
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 94,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f5964246987a3d8eda6c23681cdd799ff2bd32a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000046_s000202/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1a2a6f0d37a13e49d1da7dd64651fd37c72f812a77cdea0f4a025bafc171cd
+size 264897
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..642e1a4270283f0527bca7f0543f209408060762
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57845c66977b929a20e5c088ddcdfbaba37d4a95eb1b7c0368dac27e1178887a
+size 9007
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfa6a3efd4a9ae69bc2bdf7db5589c18b36f4619
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e183c4a06691fce844dae108dafd1a1c3b1efdd27f2d290f240848df27e7d31
+size 131744
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0d568cc9e300bba729518bbe847197b22f5882
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000047_s000205",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 47,
+    "start_frame": 14,
+    "end_frame": 24,
+    "start_time_sec": 0.4666666666666667,
+    "end_time_sec": 0.8333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 205
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 24,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c14544012d1873a3dec4960f85f3a4bb1550e67
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000047_s000205/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24d1f058ff365de01fd9f091fe925f4e2ae204ceee108024fa3ff6e86e16291
+size 113610
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..24ee7370cfa87bd0c806295ae760ce2de0961980
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be9005b08651519d3c216cfb1470c41a880e17f8ff7467ec08b9cadd3b27848
+size 10262
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..278c0e35bfde98118760651ddcf9a21d655d7c72
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa8a15867758e68da059b5a19d294a1ff5a0887b20bb943e76d10decd448365
+size 213284
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a6a68dd04221043786a24a967b1c211082a6ef2
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000048_s000209",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 48,
+    "start_frame": 19,
+    "end_frame": 35,
+    "start_time_sec": 0.6333333333333333,
+    "end_time_sec": 1.2,
+    "fps": 30,
+    "legacy_segment_id": 209
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 35,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fdc9c9debe7a4fb2d67f82a423b833eecc868237
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000209/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e434cc0cd91faef3d5a522916650d682672e42a2a1e9fd2cb4a5b5136492506
+size 205350
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0e9bfe26d4a3895b40803f772676bd6dc489ff26
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34a88a537b8a5dec21fd00ccb7741964405e915e2b7ae36457b415b23b8efd0c
+size 12252
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..efcbf4e96d22fb1635667290092d30f023805f78
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2ee4c85aa72fb36e8828405d492a458989e17cc2d57b4f5824f96ddf8095a91
+size 286554
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a10f81d09421635ebc3b735c313b0d23d07539fb
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000048_s000210",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 48,
+    "start_frame": 51,
+    "end_frame": 74,
+    "start_time_sec": 1.7,
+    "end_time_sec": 2.5,
+    "fps": 30,
+    "legacy_segment_id": 210
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 74,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3349a70af7198d26a3165110d60980b17db5ab18
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000048_s000210/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e86df68b8508f10047cbbb2c33b7c91d21abb4b914e3195654c8598a64bfcf
+size 247670
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fd35e16b0d0812c69378abfd963d8705623e5af1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a44474223404306396b135674ea5b0d71b44d8aab59b85a35fc2a51300714a32
+size 9538
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6eb28f0eedd3f07b1581c874b1e44361a546a13f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424c1616e1372bbc4d8db4c39b0f0ccb72b8605c47c6f79bcb42f5ee44ff1b14
+size 177731
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca64e2a762e7b15d5944af6e91dfd7e110d31211
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000049_s000213",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 49,
+    "start_frame": 13,
+    "end_frame": 25,
+    "start_time_sec": 0.43333333333333335,
+    "end_time_sec": 0.8666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 213
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 25,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fafdb15230aabb6b4023ae18bacae26c94495bcb
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000213/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deb59c0b9213692605b6ad2703d9cdc10ad726cff5518ec9aee3f4605af6d95a
+size 167372
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2b13fc0bb7d1152c6f87b542ac900085af658810
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a2527757fdc48c90dcf3767d1b09d9d1004f0b2dae476fbdcd8583f837ca0a
+size 12040
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a785919d263ab9c66e1b8037fb6eef6831ebd079
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a06b938ca12f415029ff9625aa47c8a081fec4a7d9a441ef4c004e5bda6195c
+size 243948
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c31ffae979b31605f3af13993f5f0ee45df0102
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000049_s000214",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 49,
+    "start_frame": 44,
+    "end_frame": 63,
+    "start_time_sec": 1.4666666666666666,
+    "end_time_sec": 2.1333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 214
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 63,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a754e7c115c3ddd00efcd829de391c1d7fb292aa
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000049_s000214/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5261e058937ff69d1aaef0c39bba67930707ee0a38e98b8139144049e0f8a271
+size 200675
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a114c8a34b64c669af6990d5008997336376598c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24664e775397e2bb8d3a214d6532876bff3185ab6f0f1d96c9859aabd162f122
+size 9877
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33b88212919927a0df6f9f88ec273a17196e827b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32e5355e22e80aa5c06d586d5ff58d9e416f0635d36d6a1d871efc8527a30adb
+size 227155
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac687980f6ea71f5ae6a8e4feabd13e681c5e90
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000050_s000217",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 50,
+    "start_frame": 9,
+    "end_frame": 27,
+    "start_time_sec": 0.3,
+    "end_time_sec": 0.9333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 217
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 27,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ffac5bbd13cef936fc357bcd38234c95ca236b8b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000050_s000217/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01a01d567621135510ed61967000b69c70d0ec0c082f9ecf6ddd1b8ffb6926f1
+size 195832
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..61ab804a9e038a584040c1f93eda95e199ac88f1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:406726c7a7a8da29f2a05513b2794389ccb32c40f77ff138c8a572615f623b3a
+size 9085
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13f28ce1676d76b28bb749abf20cb220bbe5a1c2
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa32675e3baf48bf455e8f71b204cc5501c3e96991de857216c91f3d32359c93
+size 137908
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13eef73f90841170f61511aa2f8ab022cec55517
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000051_s000221",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 51,
+    "start_frame": 10,
+    "end_frame": 21,
+    "start_time_sec": 0.3333333333333333,
+    "end_time_sec": 0.7333333333333334,
+    "fps": 30,
+    "legacy_segment_id": 221
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 21,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84ffa3fe2a162936bc5ad2b3b9047d08bf73eac5
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000221/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:652890a025315814bf01ef16855fb202480f989bec244c63551ad42885afcbf9
+size 124482
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c61499949ae387744248bb55fef55e47ae1687c7
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65df49dbbc7137a894ca34ad0b2c0d1240824e836cf1128e8475a56d7a2ba6a8
+size 23794
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1a413284ad73482c3d7a437ac2de8132622c70a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:addde91d00153b779ff586e9df1b20fc3533f43285a8e090cbca9b8effb1c3ce
+size 1020603
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a642a0f6315bfd46ccfd18ed2229c94a65e94ab3
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000051_s000224",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 51,
+    "start_frame": 205,
+    "end_frame": 293,
+    "start_time_sec": 6.833333333333333,
+    "end_time_sec": 9.8,
+    "fps": 30,
+    "legacy_segment_id": 224
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 293,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2da3fc3d910e70ca9bd6e176d6c8926f12d6ee0f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000051_s000224/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf1f5e450b25b727ac2620c05f44d429118aa2b1776f1d781f28be63e91c659
+size 932813
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..41c097897312324235a1f93d1e383ffc55cf2e4d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9beaf0b310332209ac2c07404ef2b1415dcdad8d9c3fc203a16d101703282156
+size 9673
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..62eb1452eaf76ce9f503f0d8f852b94332bdd1db
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8abbb8ebba2e4bb6d8ce8e916c5dc16751f44b9d3b1c821d1ab94a3fb9883f61
+size 197633
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97f19677f619860708b198543fb4d2a0ad237bd0
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000052_s000225",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 52,
+    "start_frame": 16,
+    "end_frame": 30,
+    "start_time_sec": 0.5333333333333333,
+    "end_time_sec": 1.0333333333333332,
+    "fps": 30,
+    "legacy_segment_id": 225
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 30,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d00b233e7f0f7e372d2f3be3bf457aef1713b1b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000225/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13fda9c3af8b1832b6ce2e3ac552adb5373e69f7a89d539f760e3ab879ba39c9
+size 179446
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d9a33037ea67f2a033b09f1dd5313b0e61457b8d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1103b836817fd4a1a9d8dc3edc91996bb02fd9b95e79a9e423bd81f1b1a51327
+size 23879
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c124105fb90929e544d7b53c708748ec57f0356e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ae1288c7564950abc376fe5295345a122511f4faaac7c0dcf41280ef93d337e
+size 951261
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1ea25942af647629c3124dd93a5f95ccfeed931
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000052_s000228",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 52,
+    "start_frame": 241,
+    "end_frame": 327,
+    "start_time_sec": 8.033333333333333,
+    "end_time_sec": 10.933333333333334,
+    "fps": 30,
+    "legacy_segment_id": 228
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 327,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..caada44d0e8eb92d639d606eaede756f55a7829b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000052_s000228/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ea06d8b39e6574773b1fbd4da7382c69e65937f7cc16b4da46386a335e45696
+size 930227
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bbeefc47a194c0ce8940769af1d3ccf4afaf7cea
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bffb1a3fb26fbc56d99b59feda2cd0edc2838927b1fd0aefa85321446dac63e0
+size 10166
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52c52508a3c28107bdd5ba2d780489a1c1c2bba0
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:403ad0465480e968cfb17cf69ed6f67705f0c7fe1547cda5825f00f5c2c8f821
+size 252425
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dff3e0a2c0a1c7271256e850b9599719e1106cb8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000053_s000229",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 53,
+    "start_frame": 15,
+    "end_frame": 33,
+    "start_time_sec": 0.5,
+    "end_time_sec": 1.1333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 229
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 33,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae4ca8c7361d4739478573a637914cda99f3e764
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000229/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f86d167b07cf6128a9f9fd9bb2e6a4205e8fe690461f12f15058ef2be8ec54fe
+size 223600
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2563047b62fb5acbcdff57ad321654555bf6318b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:784357dbfd433509ec488662ec1e442d2c40edf4ee05906970def92f670ee65c
+size 9745
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..661f3f9298d173f923a6831c50a6b3fae5e7889f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:904a6193d09bd9bc4175dd183433cd5badddf47a491cbc406d849b1f4c14ddaa
+size 271559
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fe95b80459f9222bfbae7b19148d47adcb47e8c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000053_s000230",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 53,
+    "start_frame": 47,
+    "end_frame": 70,
+    "start_time_sec": 1.5666666666666667,
+    "end_time_sec": 2.3666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 230
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 70,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..108872baaea12684339ff74abf0a0816fb9894ca
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000230/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6259b3f29e194e2aa1ad75d69920b481da3d0eec1c7f756169ef71210a5a3d5
+size 241687
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3bb1714dc0cf7ee0f5e0e975cc3ccb2dc97a36b8
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:753c7d3e65f1cb0d4301f745d32e8a067f51778ed784a62292146cbe5275e147
+size 17238
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b452b3bfb4292d532c0c821e95e13e5cf03220d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12079207fe288c88dedc21dfa6858e934450b7a4b2d7f8dbce1dd24af5d7f1da
+size 1629855
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..790c6eba174d975644b61e8df2d4fc1240d95d6e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000053_s000231",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 53,
+    "start_frame": 76,
+    "end_frame": 226,
+    "start_time_sec": 2.533333333333333,
+    "end_time_sec": 7.566666666666666,
+    "fps": 30,
+    "legacy_segment_id": 231
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "pipetting",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 226,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "吸取试剂将试剂滴入试管"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d0183b8e0e9ef1bd643d7271ee41e9c4aa01245
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000231/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbcd9c7cabca2ed2d1a63610e9308bd0afc487c43a1f107fb077198ad72b4cb5
+size 1249967
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..add44d5c048b94b9bbd816e112af3dd4725e5ec3
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8964b736e8dba3c2308b188659b1c2b39c68f64671d147cafdfd0e8eab71b723
+size 13773
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7033e8491f20d0ab43f341b56cc49b89ca20972f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0caa9d8bb64f3c88f775e17201d9d134bf79e85255ec737c88e10fa507c3f010
+size 979609
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec716a3d2eb183852a0537dd3ef75483e6d3cbbc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000053_s000232",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 53,
+    "start_frame": 239,
+    "end_frame": 323,
+    "start_time_sec": 7.966666666666667,
+    "end_time_sec": 10.8,
+    "fps": 30,
+    "legacy_segment_id": 232
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 323,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba63cfae58fb2a20e5d6e181742ff0633ab32d9a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000053_s000232/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27c04650b34ec7179352233f219578588c13d3c82362378ac905c9bd06623264
+size 867596
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4fea918da01241662cce0ad1cea7562e3d767dc4
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f304de82e3bc2394cddfd79024253bbb0fe944cae9872fbead95455007f7db2e
+size 11252
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce64b02438b4ff1cfb71af1cdb8b73c131d1619f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:175c06c8298943839cf072f918b9dacf4f65111392bd64a47e81d91798a30065
+size 253107
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae1a8f3c107c95783036e4c8a18c5bee7cef1fa2
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000054_s000233",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 54,
+    "start_frame": 8,
+    "end_frame": 31,
+    "start_time_sec": 0.26666666666666666,
+    "end_time_sec": 1.0666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 233
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 31,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66263f7c906a262700f8e031b13e24c1ece1f115
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000233/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1411d92401c0c33561ed241d57e36431323cb4e7542076c5b80686d064e90c58
+size 207369
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8239c8f89b2be4087e8b7c75183ba8b9a231f7d1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f49e839a6bcbb6d8b99b8e0c7d9e72f8ccd1a49f3c1b6d79a804cca6c0acb8
+size 13840
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df32ecf0a28c06d8d8e68c56f45fc097be0658a9
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1da3eec9412ed0394aadde55b08eefa5ddefe91986edc036bd381a5fa2283770
+size 329145
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65d6082a578d07e33224cda3a50f0516f4c82ffc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000054_s000234",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 54,
+    "start_frame": 50,
+    "end_frame": 79,
+    "start_time_sec": 1.6666666666666667,
+    "end_time_sec": 2.666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 234
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 79,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4477e203ce35e4a0d9a7fdd37601b83e7b5aa30a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000234/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d950eaae07a1bcef982df32813b4111fae7db08f7419d1c61307952cef56cb
+size 280575
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3f6e5b2c23d3acd2cb06aa63c6554097a5bda78c
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a891094c292d8ef657b9c51887e78e36d227fdb0194b88b6a8b00523ff340a2
+size 28885
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e98fe315e6cb1ecdb7c1d1e2c4d9f31653ee7e5
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:829bf8d48a44f1d0a7ea3d8ee3595a3dbbf03c73f410fe1fffd4440eb202e87d
+size 1289117
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7a6d14cd002640208d793b9615308ef96f75c44
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000054_s000236",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 54,
+    "start_frame": 237,
+    "end_frame": 349,
+    "start_time_sec": 7.9,
+    "end_time_sec": 11.666666666666668,
+    "fps": 30,
+    "legacy_segment_id": 236
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 349,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf3115ff67a3122088bbcc569d71562621aa8c9f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000054_s000236/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4922d9f1576623810952bab5acace94f3dc05e4c4ae4b2d60f334edc67078fc4
+size 1060808
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2deb467466702895f5c0daa1061e554d25e0cd65
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a4ea38f0ab2085be749cdbddadbab4b3934932e26312fbde695d9952120edfb
+size 9752
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a998726237ef71a6693b56a44fda34d200b74e9
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81efa8a36ef09c0be1bba072fd1d23954e781b6149d068a6ddce4424674161a
+size 193471
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a095c3cb521a269cffbc4652b9ce4e6dc5936fc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000055_s000237",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 55,
+    "start_frame": 13,
+    "end_frame": 28,
+    "start_time_sec": 0.43333333333333335,
+    "end_time_sec": 0.9666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 237
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 28,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76687c5c9a385bbb7797d7dd317cb3cd1b796ffe
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000237/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88f9a20788bc0e5fffaf994b72383dffd0c1310837c1607af56242cdae4ee01d
+size 186331
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..59a9f173150bb2ab33109e4500a5860d5d48fc7d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab89bdd98244f30afd60d674f9f2982e30208a45764f792708b97cf393ac05b3
+size 13675
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a645ab5790de46ed0d9b26412f7df56f3bf0555
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62443ba9e5ca74e263feebdef41e224fd7f66477b0dbf014429d44f03b3f02e9
+size 307455
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ce67050b51a237af5de8ae84f64cc5081ce32e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000055_s000238",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 55,
+    "start_frame": 39,
+    "end_frame": 65,
+    "start_time_sec": 1.3,
+    "end_time_sec": 2.2,
+    "fps": 30,
+    "legacy_segment_id": 238
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 65,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7228bb9786bcf6c68ef1c2231053bca53195d8f5
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000238/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07867a0deaf2b9ff5a1d43dfe286759e7c81505a4da1c4533ca03ec5cb823875
+size 292095
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e9525acc2f8edec8f6bd705d2476302e216d17be
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2ad2c7f8ff9b2d8023c831942c93843a7a0a643c9afd72169a3f350bed1ffd
+size 21779
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2d9a449b65ae0ae2166c8b2579076b989776aec
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d02f86b0e20af88c1e6389efc128db63e7adf6155a241b82d79192649282c54d
+size 888686
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e15a5aebe66b5144bca6d0e8dd653bbeb2e9c1e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000055_s000240",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 55,
+    "start_frame": 230,
+    "end_frame": 307,
+    "start_time_sec": 7.666666666666667,
+    "end_time_sec": 10.266666666666667,
+    "fps": 30,
+    "legacy_segment_id": 240
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 307,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f44b6a807f8c567ba1958db895e4c4b42695cd0e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000055_s000240/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5caf5fb814fa606d049aa75003d0f731bf9085150889f9422abc009a77735d8
+size 754636
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8dbf218f62ca03c4f1c010e4281ca75c849b338f
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f1759d129d92435ea309cd96ca2da6d10590d5ac659371223e03df0732d842c
+size 10829
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e221d494b7f6cd79a57ece5683d48989e2315d65
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d68e0a3e8a20f7a375ce9b56a12a9fd78913f73fa2c7ec2dfe7be4d099e82a
+size 246019
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec4ebf46206d105828f318705ec8efd74da25a62
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000056_s000241",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 56,
+    "start_frame": 8,
+    "end_frame": 28,
+    "start_time_sec": 0.26666666666666666,
+    "end_time_sec": 0.9666666666666666,
+    "fps": 30,
+    "legacy_segment_id": 241
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 28,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65e24ddecdfa964345420e402a2f94ca52d9e8b0
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000241/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a26663f6095daf249c1e7a16f420b48cb34a240ebd8188d66e8a383ae288b9
+size 227687
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8e30cfdd93caeb03b060c0cbcfd5847b0f6f1705
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62f5571d568a0a570b12e40accbf9336aa744cda1a20bc11875fed844ab726fa
+size 13794
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45a801b9452c1184fc503e3ea5781388a34ebb63
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd502851c416f6700427ffdf94b9f4fefd188dfb1664e89b528456ce3e2470f
+size 364324
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c6418c843f43dbbb0006e74ba686015123666a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000056_s000242",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 56,
+    "start_frame": 39,
+    "end_frame": 71,
+    "start_time_sec": 1.3,
+    "end_time_sec": 2.4000000000000004,
+    "fps": 30,
+    "legacy_segment_id": 242
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 71,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df49e142113c3b94df57cbc185273b7141042a3a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000056_s000242/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8379c9dd7770adcd0979fe7dc95e375cdc066f30769d2a3c7bb2a7454770bbae
+size 336000
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4e29db974f6ff1777a4eb55c636be007dc1d9d2b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b81e27e4ded76abf2c2e6612c3f98a338328cc249b2e2589f6dac3d7655cdce0
+size 11311
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdafb38364d1f33e0cd0b03d365fdeacc7e06f8a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da4199d40c0144db9fe0800fbb1fe89947087470affae70010f841a292f6ab12
+size 242782
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c6ba35dce39af37deeafa64b6cd42252488f6dc
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000057_s000245",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 57,
+    "start_frame": 9,
+    "end_frame": 28,
+    "start_time_sec": 0.3,
+    "end_time_sec": 0.9666666666666666,
+    "fps": 30,
+    "legacy_segment_id": 245
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 28,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0fc90b2ccb96d1115e5acfec23fc59c680186e80
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000245/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a91b3ec2132fd428c75c5692e50e2f26c9023282c373c676f5da4df97fd18ea
+size 215164
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..32899c64886e70c9e607a5e04e6a963eb54e80d5
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dcad0757d7f0f16734fa89d7bb57665bab21ed02ca9d50d4c42cccc10109c0b
+size 12667
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39aa9b4cb32e014d2c4151b3a3a1c125b6189d91
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae7f4a2ace100eed0b491ef96eaf57e09bf04a6a6ad2bf18e62c53d4ed6dcfd
+size 287134
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c22ff77e1ea83b2ea4be6d00379e9787cf47903b
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000057_s000246",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 57,
+    "start_frame": 42,
+    "end_frame": 66,
+    "start_time_sec": 1.4,
+    "end_time_sec": 2.2333333333333334,
+    "fps": 30,
+    "legacy_segment_id": 246
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 66,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7297d8d9c55cc94cbb1778cccc94277e423206b4
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000057_s000246/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc92acc11b46023a696cbe0305d4cd40822f246179b19c2e59d3685d4bc9fb5
+size 262418
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bcec6a44809e0f4a25ced64ec30c5f2718742e74
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24b838e13b812f3fff16d329eef578d608c1c94fb9d8ef3bd3f62602de51a2ae
+size 11286
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b091eec78c266f87efcc80389476cc5300b95ed6
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1709ba174671785fd8cfea6ffea556322e4f1e7bac77e0ab32238d39e8064b20
+size 257414
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..811532a82fe1f468fb83c424512e329ed0f2aae1
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000058_s000249",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 58,
+    "start_frame": 8,
+    "end_frame": 30,
+    "start_time_sec": 0.26666666666666666,
+    "end_time_sec": 1.0333333333333334,
+    "fps": 30,
+    "legacy_segment_id": 249
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 30,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09e54dd63ed67e535771fc42c499e7de29fe4d67
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000249/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b8d6aa09a947e196b2757afd4895e3d69d74a521567d18531da57780b08f4a4
+size 228745
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4812b83378e1e3e59dc4ed2d01e0ae997e24ee49
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0701bfd199a374dab3794b8ff43348508542b5112dbbb63103708e3c90b83c1d
+size 12799
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/ego.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/ego.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af853abb559dd98dda8030b80b1d1bc1219246b6
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/ego.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c73466a7d61d04c3b3767b90762e63176b9270a736666359d417280aec271ecf
+size 233649
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92970bb63d5a203df5080333edc6500901a35daa
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000058_s000250",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 58,
+    "start_frame": 42,
+    "end_frame": 63,
+    "start_time_sec": 1.4,
+    "end_time_sec": 2.1333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 250
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 63,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/side.mp4 b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/side.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f91ca785fd6eaa36cdda072e51bc97070ecc461
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000058_s000250/side.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd8c5b1610cea9ce9833fab38e07d5ad0c15e189c9c4276ffe7dc3664230284
+size 212928
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000059_s000253/data.parquet b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000059_s000253/data.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..721c06d30b4d0607a469cf19a3c55ffefd259b30
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000059_s000253/data.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e6c5f4a7f25b9abba38b13cd920454f78a929ba31e4d2fb167afd2ade58f363
+size 11549
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000059_s000253/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000059_s000253/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8e4d8f0355c124e38ea181108696db371106a89
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000059_s000253/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000059_s000253",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 59,
+    "start_frame": 8,
+    "end_frame": 33,
+    "start_time_sec": 0.26666666666666666,
+    "end_time_sec": 1.1333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 253
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 33,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000059_s000254/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000059_s000254/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15760dc2fd94507377f1fe9274f4cf76135bcee7
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000059_s000254/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000059_s000254",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 59,
+    "start_frame": 41,
+    "end_frame": 78,
+    "start_time_sec": 1.3666666666666667,
+    "end_time_sec": 2.6333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 254
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 78,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000060_s000257/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000060_s000257/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e7a7dc2d2e2bd4045d82d08b509d1ee9b425bb9
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000060_s000257/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000060_s000257",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 60,
+    "start_frame": 15,
+    "end_frame": 30,
+    "start_time_sec": 0.5,
+    "end_time_sec": 1.0333333333333332,
+    "fps": 30,
+    "legacy_segment_id": 257
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 30,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000060_s000258/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000060_s000258/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1586b2bf2b474b60fb5ea59541e6d61796f18576
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000060_s000258/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000060_s000258",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 60,
+    "start_frame": 45,
+    "end_frame": 75,
+    "start_time_sec": 1.5,
+    "end_time_sec": 2.533333333333333,
+    "fps": 30,
+    "legacy_segment_id": 258
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 75,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000061_s000261/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000061_s000261/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2be995b3b8eee594de996b6597fe5208283be78
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000061_s000261/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000061_s000261",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 61,
+    "start_frame": 21,
+    "end_frame": 37,
+    "start_time_sec": 0.7,
+    "end_time_sec": 1.2666666666666666,
+    "fps": 30,
+    "legacy_segment_id": 261
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 37,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000061_s000262/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000061_s000262/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a93e6ddd32816e47aa0c58d6bab7c1bca52e35b6
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000061_s000262/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000061_s000262",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 61,
+    "start_frame": 47,
+    "end_frame": 75,
+    "start_time_sec": 1.5666666666666667,
+    "end_time_sec": 2.533333333333333,
+    "fps": 30,
+    "legacy_segment_id": 262
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 75,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000062_s000265/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000062_s000265/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7961db6844a552e031e252306536418174994248
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000062_s000265/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000062_s000265",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 62,
+    "start_frame": 13,
+    "end_frame": 26,
+    "start_time_sec": 0.43333333333333335,
+    "end_time_sec": 0.9,
+    "fps": 30,
+    "legacy_segment_id": 265
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 26,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000062_s000266/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000062_s000266/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95e3524a48c3d125a072d1dd8614f77bd2ccddbd
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000062_s000266/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000062_s000266",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 62,
+    "start_frame": 37,
+    "end_frame": 65,
+    "start_time_sec": 1.2333333333333334,
+    "end_time_sec": 2.2,
+    "fps": 30,
+    "legacy_segment_id": 266
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 65,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000063_s000269/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000063_s000269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f838676535ec186628bc65ebecfb82e93c464d07
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000063_s000269/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000063_s000269",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 63,
+    "start_frame": 14,
+    "end_frame": 32,
+    "start_time_sec": 0.4666666666666667,
+    "end_time_sec": 1.1,
+    "fps": 30,
+    "legacy_segment_id": 269
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 32,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000063_s000270/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000063_s000270/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3be08be483b1c6c114f2dcbdcebd43a0ca2c21d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000063_s000270/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000063_s000270",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 63,
+    "start_frame": 43,
+    "end_frame": 68,
+    "start_time_sec": 1.4333333333333333,
+    "end_time_sec": 2.3,
+    "fps": 30,
+    "legacy_segment_id": 270
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 68,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000064_s000273/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000064_s000273/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28bfcc415ecf4967ede4fea9dfb205b2930a4878
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000064_s000273/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000064_s000273",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 64,
+    "start_frame": 15,
+    "end_frame": 33,
+    "start_time_sec": 0.5,
+    "end_time_sec": 1.1333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 273
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 33,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000064_s000274/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000064_s000274/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d748152271781bdc69756a5211763434ff1f5c7a
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000064_s000274/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000064_s000274",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 64,
+    "start_frame": 42,
+    "end_frame": 69,
+    "start_time_sec": 1.4,
+    "end_time_sec": 2.333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 274
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 69,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000065_s000277/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000065_s000277/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ebe1aba74732700186e58ce3dfc5b7884edf460
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000065_s000277/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000065_s000277",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 65,
+    "start_frame": 18,
+    "end_frame": 29,
+    "start_time_sec": 0.6,
+    "end_time_sec": 1.0,
+    "fps": 30,
+    "legacy_segment_id": 277
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 29,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000066_s000281/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000066_s000281/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bf250fd78e187a5780dbbd64e2f53cd79877b13
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000066_s000281/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000066_s000281",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 66,
+    "start_frame": 15,
+    "end_frame": 25,
+    "start_time_sec": 0.5,
+    "end_time_sec": 0.8666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 281
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 25,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000067_s000285/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000067_s000285/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90a5310205101ada064a80ad66cda668b2fb7c87
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000067_s000285/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000067_s000285",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 67,
+    "start_frame": 13,
+    "end_frame": 27,
+    "start_time_sec": 0.43333333333333335,
+    "end_time_sec": 0.9333333333333333,
+    "fps": 30,
+    "legacy_segment_id": 285
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 27,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000289/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000289/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0017db71757bfe640f43dc488c43eb03ae413295
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000289/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000068_s000289",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 68,
+    "start_frame": 116,
+    "end_frame": 128,
+    "start_time_sec": 3.8666666666666667,
+    "end_time_sec": 4.3,
+    "fps": 30,
+    "legacy_segment_id": 289
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 128,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000290/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000290/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba9a99d29eaeeb7bd9b2a6e958f2d5ae25ecb9d5
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000290/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000068_s000290",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 68,
+    "start_frame": 149,
+    "end_frame": 167,
+    "start_time_sec": 4.966666666666667,
+    "end_time_sec": 5.6,
+    "fps": 30,
+    "legacy_segment_id": 290
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 167,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000291/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000291/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ba18c2b953bff4122eb8d2166116bd029c437d
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000291/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000068_s000291",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 68,
+    "start_frame": 187,
+    "end_frame": 317,
+    "start_time_sec": 6.233333333333333,
+    "end_time_sec": 10.6,
+    "fps": 30,
+    "legacy_segment_id": 291
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "pipetting",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 317,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "吸取试剂将试剂滴入试管"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000292/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000292/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0fa7d4505515af6de20296d595f2c1e13b9104e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000068_s000292/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000068_s000292",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 68,
+    "start_frame": 324,
+    "end_frame": 408,
+    "start_time_sec": 10.8,
+    "end_time_sec": 13.633333333333335,
+    "fps": 30,
+    "legacy_segment_id": 292
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "placing",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 408,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}
diff --git a/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000069_s000293/meta.json b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000069_s000293/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ab6885d91862c2ea3212e1a67903c23b793768e
--- /dev/null
+++ b/0508_2_dropper_liquid_transfer/annotated/segments/train/rbt_ep000069_s000293/meta.json
@@ -0,0 +1,26 @@
+{
+  "segment_id": "rbt_ep000069_s000293",
+  "source": {
+    "dataset_id": "0508_2",
+    "raw_dataset_id": "0508_2",
+    "episode_idx": 69,
+    "start_frame": 29,
+    "end_frame": 46,
+    "start_time_sec": 0.9666666666666667,
+    "end_time_sec": 1.5666666666666667,
+    "fps": 30,
+    "legacy_segment_id": 293
+  },
+  "labels": {
+    "environment": "chemistry lab",
+    "object": "rubber bulb dropper and test tube",
+    "action": "picking up",
+    "grasp_type": "Small Diameter"
+  },
+  "outcome": {
+    "success_frame": 46,
+    "final_success": true,
+    "events": []
+  },
+  "notes": "化学实验"
+}